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介绍了一种具有力觉功能的新型机器人二自由度平面微操作器（ＦＰＭＷ）．研制了具有四种选择细分数功能的ＦＰＭＷ高细分驱动器．ＦＰＭＷ与普通工业机器人ＰＵＭＡ５６２组成宏／微操作器系统，在开发的基于力／力矩信息的平面搜孔软件的指挥下，机器人宏／微操作器系统成功完成了精密轴孔装配作业．平均装配时间４．２秒．
A novel robotic two degree of freedom planar micromanipulator (FPMW) with force-sensing function is introduced. Developed a FPMW high-resolution drive with four selectable subdivision functions. The FPMA / PUMA562 is composed of the macro / micromanipulator system. Under the command of the plane / hole searching software based on the developed force / torque information, the robotic macro / micromanipulator system successfully completes the precision axial hole assembly. The average assembly time of 4.2 seconds.