Title :
Research on MR-2 micro-robot
Author :
Zhang, Y. ; Yang, Y.M. ; Lin, H.R. ; Wu, Y.H.
Author_Institution :
Res. Inst. of Robotics, Guangdong Univ. of Tech., China
Abstract :
This paper presents a new mechanical structure and control system of a micro-robot with three degrees of freedom. The micro-robot features three axes in a body, small dimensions and internal sensors. Computer simulation and experimental results show that this micro-robot has good dynamic characteristic and high repeatability. It can not only be used as a single equipment, but also can be installed on the end effectors of widely-used industrial robots to compose high accuracy assembly robots
Keywords :
assembling; industrial manipulators; manipulator dynamics; micromechanical devices; MR-2; high accuracy assembly robots; mechanical structure; micro-robot; repeatability; Control systems; Cutting tools; Feeds; Microactuators; Output feedback; Position measurement; Strain control; Strain measurement; Transfer functions;
Conference_Titel :
Industrial Technology, 1994., Proceedings of the IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
0-7803-1978-8
DOI :
10.1109/ICIT.1994.467133
