Research On Key Technologies Of Micro Manipulation System Based On Micro-robot

With the development of modern science and technology,more and more studies involve in the manipulation of micro object.At present,most task of micromanipulation is still rely on manual operation,and the defects of manual operation include low success rate,weak repeatability and so on.In order to overcome the defects caused by manual operation,it has great significance to design an efficient and easy operated automated micromanipulation system.Aimed at the issue of the precision of micro-handling,a micro manipulation system based on micro-robot is established in this paper,including planar motion module and vertical motion module.The planar motion module can achieve the movement in all directions on the plane through the cooperation of piezoelectric ceramic and electromagnet.And the vertical motion module adopts stepper motor drive the screw,thus ensure faster operation with higher accuracy.Then it carried on the analysis and researches to the key technique of global visive system.First,in this paper,in order to obtain the position and orientation of robot in the global view,a method based on feature plate is proposed;Then,a method based on the straight line motion path planning and end-effector searching strategy is designed to guide the robot to move into micro-handling area;Finally,it elaborates the design and realizing methods of camera calibration,bring forwards an easy one CCD camera calibration method,namely the least two multiplication.According to the request of the micromanipulation,research and analysis on the key technique of microscopic vision system is necessary.First,a method of combining template matching and external contour detection is proposed,and realizes accurate positioning of end-effector.Then,in order to overcome the defects caused by manual operation,such as low precision,slow velocity and so on,an automatic focusing technology of image-vision based on wavelet transform is presented for acquiring distinct end-effector images quickly and accurately.Finally,a system identification-based method of extracting the microscopic point spread parameter is put forward in this paper,and the depth information is extracted from the microscopic images,the performance of the proposed methods has extended the operation range of the micro-manipulator.