Research of Microrobot Movement Accuracy

The range of applications of micropositioning systems is rapidly expanding in various fields such as manufacturing processes, medical diagnostics, scientific research and many others. As a result, the demand for high accuracy, reliability and high precision control of micropositioning systems is growing. The main problems requiring research in this area are the search for solutions related to vibrations, inertial effects, mechanical, thermal and assembly errors. This paper describes a micromanipulation solution consisting of drivers of 4-axis (X, Y, Z1, Z2) micropositioning system and determining errors of system (drives with stepper motors, ball screws and slider) from the movement distance. Experimental studies have been conducted on high accuracy micropositioning based on position data received in almost real time with low latency. The experiments included series of measurements the accuracy of the micropositioning system and analyzing the results. The system is control by a computer with user interface and generates commands of movement and send it to motion controller. The results obtained allow an assessment of the influence of the accumulated error, friction of the actuator and etc. The experimental results show that the positioning errors of the microrobot positioning drive are within acceptable limits and the high accuracy is sufficient for micromanipulation purpose.