Mathematical model of s - shaped finger is setup , and optimum design process is also presented under considering technological conditions and physical dimension of gripper . finite element method ( fem ) is used in structure analysis and simulation of electric field 设计中用有限元方法进行夹持臂模态分析、柔性结构刚度估计等，并对微夹持器工作电场的进行仿真，以考察静电驱动对微操作对象的影响。
Demand for precise positioning systems with nanometer accuracy is increasing quickly for some precise missions such as microsurgery , ultra - precise machining and measuring , etc . meanwhile , compare to the smaller scale of micro operation objects the whole system needs smaller outline too 在显微外科、超精密加工等领域急需达到纳米级定位精度。而在微操作器、微小型机器人等领域,操作对象的微小化也使整个系统急需更小的尺度支持。
Design the software of compton back - scattering imaging scanner , point out the functions of this software . give out the program modules in which the directory and contents of this software is included . give out the interfaces of the main program modules and describe the meanings of operating elements on these program interfaces briefly 指明了本应用软件的功能，主要是控制三维扫描运动和源的工作位置、数据采集和处理以及文件管理和帮助等;给出了程序结构模块，从中列出了软件所含的主要目录;给出了几个主要的程序模块的界面，简要说明了界面中各操作对象的含义。
Electro - conductive fingers of gripper are connected to ground , in order to release the electric charges on the surface of fingers and gripping objects . continuous s - shaped flexures in finger would decrease the stiffness of gripping arm , and slove the contradiction between huge elastic modulus and small surface electrostatic force 本文设计了大深宽比梳状静电驱动形式的微夹持器，采用了导电型并接地连接的微夹持臂，对被操作对象无特殊要求，且可防止静电对操作的影响。
According to whether the object concerned has the attribute of time , the operations for spatio - temporal objects can be divided into two classes , one generated directly from the temporal types , and the other generated from the non - temporal types , which act on spatio - temporal objects at last after temporal lifting 根据操作对象是否具备时间属性，时空对象的分析操作分为两大类：一类是直接基于时态数据类型而产生的操作；另一类则是由产生于非时态数据类型、经过时态提升后作用于时空对象的操作。
The micromanipulator must contact the objects to be handled in the manipulation process and the end - effector will be loaded by the exterior forces . the static mechanics of the manipulator has been analyzed on the basis of the work done above , by the way of the screw theory the mechanics jacobia is educed , furthmore , the matrix is the transpose of the kinematics jacobia in such a microscopic world . meanwhile the index of the static stiffness and payload related to the mechanics is studied 微动机器人在操作过程中，必然要接触到操作对象，末端执行器要受到力力矩的作用，在前面分析的基础上，进一步分析其静力学性能，运用螺旋理论导出反映其静力特性的力雅克比矩阵，并且可以看到此矩阵与速度雅克比互为转置。同时还考察了微动机器人的静刚度、承载能力指标。
The system of structure defined the parts in the system and the function of each part , and offered the network support to the theory . the system model of the data described the characteristics of the data and the sorts and the movement of data based on these characteristics . the system model of function defined the functions and applications related to the real - time calculation and analysis theory 其中，系统结构建立了系统的全局结构，定义了系统的各个组成部分及其功能，为实时理论和技术的实现提供网络支持；系统数据模型定义了系统数据的特点和以这些特点为依据的数据分类，并描述了在系统数据特点基础之上的数据流动路径，为系统运行提供了操作对象和相关方法；系统的功能模型定义了和实时系统有关的功能和相应的层次结构。
