Micro operating platform for achieving large-stroke six degrees of freedom

Abstract

A micro operating platform for achieving large-stroke six degrees of freedom comprises an electric horizontal-moving guiding rail achieving XYZ three-dimensional moving and three rotating motors controlling sample tail end postures. The XYZ electric horizontal-moving guiding rail comprises two guiding rail bodies, a guiding rail body, and a vertical motor guiding rail body, wherein the two guiding rail bodies are installed on a supporting system and used as the axis x of the system, the guiding rail body is horizontally arranged on the supporting system and used as the axis y of the system, and the motor guiding rail body is used as the axis z of the system. According to the micro operating platform, spatial movement of a whole sample is achieved due to fact that motor drive exists in the guiding rail, and therefore the spatial position of the sample is determined. The three rotating motors are used for controlling the sample tail end postures, and the sample can rotate in all directions through running of the three motors, so that conversion of the spatial machining directions of the sample is achieved, and conversion of the sample postures is achieved. The micro operating platform has the advantages that the three-dimensional structure of an object in all the directions can be machined, and flexibility and maneuverability of the machining process are improved. The position of the sample is obtained through an XYZ rectangular coordinate type robot, the stroke is large, and precision and rigidity are high.

Description

technical field [0001] The invention relates to a micro-operation platform for realizing large stroke and six degrees of freedom. Background technique [0002] Micromanipulation technology is one of the key technologies for precision instruments and precision machinery to achieve high precision. It has been widely used in multidisciplinary fields such as microsurgery, micromachining, optical fiber docking, and microelectromechanical system assembly. The micromanipulation platform is used to carry the operation object during micromanipulation, so that the micromanipulation end effector can perform specific operations on the operation object on it to complete the specified task. [0003] The existing micro-operations are all based on open-loop control. Some scholars at home and abroad have designed a variety of flexible parallel robots to perform multi-degree-of-freedom movements and rotations at the micron or even nanometer level, and have a number of related patented technol...

AI Technical Summary

Problems solved by technology

[0003] The existing micro-operations are all based on open-loop control. Some scholars at home and abroad have designed a variety of flexible parallel robots to perform multi-degree-of-freedom movements and rotations at the micron or even nanometer level, and have a number of related patented technologies, such as: a three-dimensional Branched six-degree-of-freedom parallel flexible hinge micro-motion mechanism (Chinese patent: CN200610151113.7), six-degree-of-freedom macro / micro dual-drive nanoscale positioning and large-stroke flexible parallel robot (Chinese patent: CN200410013627.7), six-degree-of-freedom large-stroke , high-precision flexible parallel robot (Chinese patent: CN200410013628.1), but the main problem of these existing technologies is that there is no feedback of force / torque related information, and it is limited by the precision of microscopic equipment, so it is difficult to ensure the accuracy of micro-operations. Accuracy and Reliability Requirements

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