本研究應用本實驗室長期發展之聚氨基甲酸乙酯(polyurethane, PU)微型夾爪技術，完成一由壓電材料致動之微形夾持器系統並改善夾持器與機器手臂安裝困難的問題。夾持器增加手動微調機構，使微夾爪組裝完仍能微調夾爪開口大小。完成自動操縱系統的夾持設備硬體需求後，再利用影像伺服系統，發展系統自動化圖形識別定位，並以RES(Regional Edge Statistics with multiple sub-domain)影像演算法之核心概念配合小波理論的優勢，提出以小波熵作為聚焦函數，最後成功的實現三維空間中自動聚焦與影像伺服定位控制直徑 的微粒子傳輸與放置之自動化應用實例，以便未來應用於生物醫學相關之微粒子操縱。

The present research is to implement a micromanipulating system by using a piezoelectronic actuated micro gripper module, which applying the PU micro gripper technique researched by OME lab for a decade. A fine-tuning mechanism is added to improve the installation problem between manipulator and robotic arm. By this design, we can also tune the opening size of gripper. After completing hardware requirements of gripping device for automatic micromanipulating system, an automatic positioning system by utilizing pattern recognition in visual-servo algorithm is developed. A focus function “Wavelet Entropy” is proposed to incorporate with wavelet method and RES(Regional Edge Statistics with multiple sub-domain) method for the autofocusing and visual-servo operation. Finally, automatic transporting and manipulating of microparticles with size around 10~100μm in 3-D workspace employing the visual-servo locating and micromanipulating autofocusing techniques is implemented and tested. In the future, we will apply the present research to microparticles manipulation in biomedical research.

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