Study on robotic micro direct-drive end effector for precise assembly

This paper presents an approach of employing a macro/micro manipulator system to enhance the system effective positioning accuracy. The high speed and large range motion of the macro manipulator (robot) are made full use of to realize the coarse positioning. The micro manipulator (end effector) is taken over executing the fine manipulation. Also the design and mathmatical analysis of the Force-controlled Precise Micro-driving End-effector FPMW-III are discussed in detail. The experiment of peg-in-hole assembly has been finished and the results are given in the paper.