中文摘要：

提出利用电磁铁的磁力作为机器人的运动驱动，利用这种电磁力的磁悬浮微动机器人不需要任何关节，结构肾凑，运动精度高。文中介绍了一种基于DSP的单自由度磁悬浮微动机器人的结构和工作原理，研究了磁悬浮机器人的运动控制系统，包括DSP系统、控制算法、软件结构，实验证明该系统能够较好地控制机器人的运动。

英文摘要：

It is put forward that magnetic force of electromagnetic used as movement driving for micro manipulator robot. And this kind of micro-manipulator robot need not any joint, the construct is tighten, and movement precision is very high. The structure and the principle of single freedom magnetic levitation micro-manipulator which is based on DSP is introduced in this paper, Its motion control system of the micro-manipulator is studied, includes DSP, control arithmetic , structure of software. The experiment results prove that the system can control the manipulator movement.