Research Of Macro/Micro Dual-Drive Micro-Manipulation System Based On Machine Vision

Recent years,many micro manipulation system or micro manipulation handapply to military affairs , optics communication , biology and precisionmechanism,and these also have success.So these application field also advancemore requirement to micro-manipulation system,for example:motion precision,respond speed,force sense,control and flexible.Some projectapplication field not only require large workspace,but also ultra-precision.Someothers projects require micro-manipulation system has fast motion speed andprecision force sense. All these requirements make the traditionalmicro-manipulation system with single drive method can not accomplish theappointed task. In order to resolve above problems,at the end of the twenty centuryeighty,many scholars of the word put forward macro-micro dual drivemicro-manipulation system.In the past twenty years,not only theory prove butalso project application both prove that macro-micro dual drive micromanipulation system has many merits over the traditonal single drivemicro-manipualtion system.,it is a valid method to resolve large workspace andultra-precision. The paper mainly research the macro-micro dual drive micro manipulationsystem based on mechine vision.It adopts motor and silk-bar framework tofabricate the macrostage with large workspace and large drive force etc;itsmicrostage is made of PZT,because PZT has many merits,for example fastresponse,high precision and frictionless etc characters.So the micro manipulationsystem at the same time has large workspace and nano precision.The paper also research each of design modeling and control analysis ofmacrostage and microstage,and how to utilize them to design serial typemacro-micro dual drive microstage.At last, we design the mechanism andelectron part of the macro-micro dual drive microstage.At the same time,we aim at many micro manipulaiton system has trouble inharmonizing control,put forward adopting mahine vision to harmonize eachcontrol part of macro and micro.The system looks at the distance between theimplement and target as control threshold,if the threshold more than the threshold,the control part start up the macrostage and macro control part, or else,start up themicrostage and PZT control part in order to compensate the displacement error.Atlast,we make use of Visual C++to design the vision servo programe realizingtrack,recognising and control.At last,the paper has the background of cell injection of biology project,anddesign machine vision track and recogniseing programe,and home research thosekey technology.The system have realized dynamicly recognising injection needleand cell,and truly control microstage motion to appointed place;at the sametime,the system has dyanmic place and the distance between needle and cellsaving to the appointed database.Experiment result shows the micro manipulationsystem working stabilization,track,recognising,positioning and control all haveachieved anticipative aim.Because the macro/micro micro-manipulation system in the thesis involvesthe areas of mechanics,electronics,communication,automation,imagemanipulation and so on, the range of the knowledge is very wide. On the whole,the content to research in the thesis mainly consists of the Microoperationworkbench on controlling and driving , the analyzing and selecting andprogramming of the serial communication ways and the designing of the visionsystem and arithmetic. .At last, after we establish the hardware system, and finisha set of software to realize the function that is prearranged.The paper consists of seven main chapters, given as follows:Chapter 1 IntroductionThrough the general introduction to main application field,conception,characteristic of micro-manipulation system;and also introduction of macro/micromicro-manipulation system and its merits.And then introduced the main researchContent of the paper.Chapter 2 Mechanism design and control modeling of macro/micro micro-manipulation systemThe chapter mainly researchs the function and framework of macro/micromicro-manipulation,and the motor's drive and control of the macro part,andpiezoelectricity drive and control of the micro part.what's more,also researchshow to make use of vision servo control programm to assort with themacro/micro dual drive micro-manipulation system control.Chapter 3 Vision demarcation of micro-manipulation systemIn the chapter,we mainly research the vision demarcation,and error analysisof vision demarcation.And the introduced the main methods of visiondemarcation, how to eliminate yawp in vision demarcation.Chapter 4 Design of vision servo control systemAt first, simply introduce present several main framework form,at the sametime introduced their merits and shortcomings,and each of them should applyfields.And then put forward and research micro-manipulation control frameworkof macro/micro dual-drive micro-manipulation system in order to achieve themanipulation requirements of micro-manipulation,and design the vision servocontrol programme.Chapter 5 Programing of vision servo programme based on Da Heng imagecollection cardFirst,introduced configure and function framework of the system,then,simplyintroduces the function and soft development package;and soft flow chart andsoft development basic conception,and then we adopt Da Heng image collectioncard and Visual C++ to development the vision servo control programme.Chapter 6 Test system reliability with simulation cell injection of biologyengineeringAt first,the chapter introduced the define and methods of recogniseing.Thenintroduced the concept and operation and application of morphologic.And thenintroduced the image mach technology and how to make template involved of thepaper.The chapter mainly researchs how to apply the macro/micro dual-drivemicro-manipulation to cell injection of biology engineering,and gives the methodof cell and needle dynamic track and recognising.we also give the result of testand data curve.Tests show:the system works credibility and stabilization.Chapter 7 Conclusion and expectationThe chapter gives the main conclusion obtained in this paper and the prospectfor next research.The macro/micro dual drive micro-manipulation system can meet therequirements of bulk micro-manipulation,and has a large workstage(8mm×10mm×8mm), and 1μmpositioning precision, positioning time less than 40ms.At thesame time,we research vision servo track programme has a fast recognising speedcomparing the traditional vision servo track programme, and achieved real timetrack and recognising.What's more,we ideally resolve the problem of harmonycontrol of macro/micro dual drive micro-manipulation system,which prevalentexists in the macro/micro dual drive micro-manipulation system.