本文以「光機電系統控制研究室」研究多年的微夾持系統為基礎，發展微夾持系統力量控制的功能，文中先對於微操控環境進行分析，將環境對於微夾持任務的影響作評估，並且利用設計之微力量感測器進行簡單的黏著力實驗，測量出直徑63、37μm玻璃微粒子對PU(polyurethane)材料的黏著力大小，以利日後微夾持任務的夾持力估測及控制。另一方面，設計具力量感測器的微夾持器，並利用CCD擷取微夾持器夾持直徑20μm銅線的情形，進行非線上的夾持力估測，期望能達到力量控制的初步發展。

This thesis is based on the research of micro-gripping system by “OME System Lab” in recent years for developing the function of force control in micro-gripping system. At first micro-manipulator environment in the thesis is analyzed. The effect of micro-gripping task by environment is evaluated. The designed micro-force sensor is used to do the simple experiment with adhesion forces. The adhesion forces between glass particles, with diameter 63, 37μm respectively, and PU(polyurethane) plate are measured, to facilitate estimation and control of gripping force in micro-gripping task in the future. On the other hand, designing micro gripper with force sensor and using CCD, the micro gripper can grip a copper wire with diameter 20μm and proceed to estimate the gripping force off-line, which is expected to achieve the initial development of force control.

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