【摘要】 本文论述了一种具有力觉功能的新型机器人二自由度平面微操作器及与传统工业机器人ＰＵＭＡ５６２组成的宏／微操作系统。亥宏／微操作系统保留了ＰＵＭＡ机器人大行程高速度的优势，同时发扬了微操作器动作精度高、频响高的优点。二自由度平面做操作器（ＦＰＭＷ）的最高动作精度０．４８μｍ，频率响应１６００Ｈｚ。该操作系统在计算机控制下，成功完成了轴孔精密装配作业。更多还原

【Abstract】 The peper presents a macro/micro manipulator system that consists of a novel 2 DOF planar micro manipulator (FPMW) with force sensor and traditional robot PUMA 562.This macro/micro manipu lator system not only remains the advantages of PUMA robot,such as large motion field and high speed, but also develops the micro mani pulator’s high accuracy and high response. FPMW’s motion accuracy is 0. 48μm,response frequency is 1600Hz.Controlled by the computer, the system accomplishes the peg-in-hole assembly successfully.更多还原