面向血液黏弹性测试的微牵拉机器人

To address the issues of low force control accuracy，high sample loss，and complex operation in existing liquid viscoelasticity measurement methods，a viscoelasticity detection method based on a dual-probe micromanipulation robot system was proposed． This method combined microscopic visual technology and model predictive control algorithms to achieve horizontal stretching and precise stress loading of tiny droplet samples．Probe structure was designed and optimized to ensure the stability and measurement accuracy of the droplets during the testing process． The system captured the minute deformation of the force probe using a microscopic camera and calculated the mechanical parameters applied to the sample，successfully performing viscoelasticity tests on different liquid materials．Research results show that the system can accurately distinguish the viscoelastic characteristics of pure water，honey water with 50% honey volume content，and honey water with 80% honey volume content，verifying its feasibility and reliability in viscoelastic measurements at micro scale．.