Operators suffer much diffieulty in manipulating miero-size objects without the assistance of friendly interfaces due to the scaling effects in micro worht. The paper presented a general framework for mieromanipulatio...Operators suffer much diffieulty in manipulating miero-size objects without the assistance of friendly interfaces due to the scaling effects in micro worht. The paper presented a general framework for mieromanipulation robot hased on virtual reality technology. With the framework we brought forward a FDH （Fixed Direction Hulls） based hounding box method to handle the eollision ,teteetion of the peg-in-hole mieroassembly. The eollision response model for the collision between micro needle and hole was presented. The virtual three and corresponding displacement were calculated with the model of bending deformation and pressing ,teformation. Experiments verify the validity of collision response model.展开更多
文摘Operators suffer much diffieulty in manipulating miero-size objects without the assistance of friendly interfaces due to the scaling effects in micro worht. The paper presented a general framework for mieromanipulation robot hased on virtual reality technology. With the framework we brought forward a FDH （Fixed Direction Hulls） based hounding box method to handle the eollision ,teteetion of the peg-in-hole mieroassembly. The eollision response model for the collision between micro needle and hole was presented. The virtual three and corresponding displacement were calculated with the model of bending deformation and pressing ,teformation. Experiments verify the validity of collision response model.
