微操作/微装配中微力觉的测量与控制技术研究现状综述  

Review of Measuring and Control Technology of Microforce in Micromanipulation and Microassembly

作　　者：沈飞[1,2] 徐德[1] 唐永建[2] 吴文荣[2] 余大海[2] 

机构地区：[1]中国科学院自动化研究所精密感知与控制研究中心,北京100190 [2]中国工程物理研究院激光聚变研究中心,绵阳621900

出　　处：《自动化学报》2014年第5期785-797,共13页Acta Automatica Sinica

基　　金：国家自然科学基金(61227804;61105036);中国博士后科学基金资助项目资助~~

摘　　要：微力觉的测量与控制技术是微操作/微装配领域内的核心内容和难点课题,是满足微器件可靠操作与无损装配要求的重要技术保障之一.本文介绍了微操作/微装配机器人系统的典型框架,并对各分系统的研究要点做了分析与回顾.然后,从微力觉的特点、微力测量方法与传感器、微力觉控制三个方面对微力觉的测量与控制技术的发展现状进行了综述.着重介绍了近些年在远程微操作系统和微操作/微装配系统中微力觉控制的方法及核心研究内容的研究成果.在此基础上,提出了微力觉测量与控制亟待解决的一些关键问题,并对这些关键问题的解决方案进行了探讨.最后,对微力觉的发展前景和方向进行了展望.The measuring and control technology of microforce, as the emphasis and difficulty in the micromanipulation and microassembly field, is one of the important technical supports for satisfying the reliable manipulation and lossless assembly requirements of micro component. In this paper, a typical structure of micromanipulation and microassembly robot system is introduced and the research highlight of its subsystems are analyzed and reviewed. Then the measuring and control technology of microforce are reviewed from three aspects： characteristic, measuring method, sensors and control methods of microforce. The research on microforce control in microteleoperated systems and micromanipula- tion/microassembly systems in recent years are introduced as a key point. On this basis, the key problems to be solved in the measuring and control of microforce are put forward and their solution are discussed. Finally, the prospects for the development of microforce and its direction are presented.

关 键 词：微操作 微装配 微力觉 微力测量 柔顺控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]