MR－2型微机器人的研究

Research on MR-2 Micro-Robot

提出一种新型三自由度微机器人的机械结构及其控制系统。微机器人的机构具有三轴一体、体积小和内藏传感器等特点。计算机仿真和实验结果表明，该微机器人的动态性能好，重复精度高，既可以单独使用，也可安装在一般工业机器人的终端执行器上，从而构成高精度装配机器人和能进行各种檄操作的高精度机器人。

This paper presents a new mechanical structure and control system of micro-robot with three degrees offreedom. The micro-robot features three axies in one body,small dimensions and internal sensors.Computer simulation and experimental results show that this micro-robot has good dynamic characteristicand high repeatability. It can not only be used as a single equipment,but also can be installed on the endeffectors of widely-used industrial robots to compose high accuracy assembly robots and many micro-operation robots with high accuracies.