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本文论述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及与传统工业机器人ＰＵＭＡ５６２组成的宏／微操作系统。亥宏／微操作系统保留了ＰＵＭＡ机器人大行程高速度的优势，同时发扬了微操作器动作精度高、频响高的优点。二自由度平面做操作器（ＦＰＭＷ）的最高动作精度０．４８μｍ，频率响应１６００Ｈｚ。该操作系统在计算机控制下，成功完成了轴孔精密装配作业。
This paper discusses a new robotic two-degree-of-freedom planar micromanipulator with force-sensing function and macro / micro-operation system with the traditional industrial robot PUMA562. Haihong / micro-operating system retains the PUMA robot large stroke speed advantage, while promoting the micro-manipulator high precision, high frequency response advantages. Two degrees of freedom plane operator (FPMW) maximum operating accuracy of 0.48μm, the frequency response of 1600Hz. The operating system under the computer control, the successful completion of the shaft hole precision assembly operations.