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Method for measuring orthogonality of motion trajectory of micro-operation robot three-degree-of-freedom motion control system

A technology of motion control system and motion trajectory, which is applied in the field of orthogonality evaluation of motion trajectory and non-orthogonality correction of motion trajectory, can solve problems such as inability to guarantee three-axis orthogonality, achieve accurate positioning and ensure positioning accuracy Effect

Active Publication Date: 2019-08-16
BEIJING UNIV OF TECH
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Problems solved by technology

In actual use, although the motion control system has good assembly orthogonality, it cannot guarantee that the three-axis motion trajectory has good orthogonality, that is, the three-axis motion trajectory does not necessarily satisfy the absolute orthogonal relationship.

Method used

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  • Method for measuring orthogonality of motion trajectory of micro-operation robot three-degree-of-freedom motion control system
  • Method for measuring orthogonality of motion trajectory of micro-operation robot three-degree-of-freedom motion control system
  • Method for measuring orthogonality of motion trajectory of micro-operation robot three-degree-of-freedom motion control system

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Embodiment Construction

[0056] The present invention is described in further detail now in conjunction with accompanying drawing. figure 1 It is a flow chart of the method for measuring the orthogonality of the motion trajectory of the three-degree-of-freedom motion control system of the micro-manipulation robot involved in the present invention. The method for measuring the orthogonality of the motion trajectory of the three-degree-of-freedom motion control system of the micro-manipulation robot includes the following steps:

[0057] 1. Build a motion track orthogonality measurement system

[0058] figure 2 It is a motion track orthogonality measurement system. The three motion degrees of freedom of motion control system 1 correspond to X motion axis 2, Y motion axis 3 and Z motion axis 4 respectively, and X motion axis grating scales are installed on the three motion axes 5. Y motion axis grating ruler 6 and Z motion axis grating ruler 7, with a resolution of 0.1 microns, are used for closed-loop...

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Abstract

The invention relates to a method for measuring orthogonality of a motion trajectory of a micro-operation robot three-degree-of-freedom motion control system, in particular to a method for evaluatingthe orthogonality of the motion trajectory of the motion control system and a method for correcting the non-orthogonality of the motion trajectory. The method mainly comprises the following steps of:constructing a motion trajectory orthogonality measurement system, analyzing the orthogonality of standard orthogonal reference system, collecting the motion trajectory, fitting the motion trajectorystraight line, evaluating the orthogonality of the motion trajectory, and correcting the non-orthogonality of the motion trajectory. The method provided by the invention solves the problem that the motion trajectory of the motion control system is non-orthogonal, realizes the accurate positioning under the orthogonal condition, and effectively ensures the positioning accuracy of the micro-operation robot.

Description

technical field [0001] The invention relates to a method for measuring the orthogonality of the motion trajectory of a three-degree-of-freedom motion control system of a micro-manipulation robot, in particular to a method for evaluating the orthogonality of the motion trajectory of the motion control system and a method for correcting the non-orthogonality of the motion trajectory to realize orthogonality Accurate positioning under certain conditions can effectively ensure the positioning accuracy of the micro-manipulation robot. Background technique [0002] A micro-manipulation robot is an operating system that grasps, transfers, and assembles tiny objects (such as biological tissues, cells, MEMS microstructures, micro-electromechanical systems, etc.) in the micron or sub-millimeter range of precision. , used in many fields such as microassembly, microinjection, bioengineering, minimally invasive surgery, etc., it usually consists of three parts: vision system, micromanipu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J9/16
CPCB25J9/1664B25J19/00B25J19/0095
Inventor 王跃宗陈浩张鑫
Owner BEIJING UNIV OF TECH
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