A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based ...A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based on differentiation is used to get the (inverse) kinematics equations. Then a micro-scale motion precision simulation method is proposed according to finite element analysis (FEA), and the prediction of robot’s motion precision in design phase is realized. The simulation result indicates that the 6-DOF micro-manipulation robot can meet the design specification.展开更多
This paper presents a release method for micro-objects. To improve position accuracy after release, we propose 3D high-speed end-effector motions. The classical release task focuses on the detachment of a micro-object...This paper presents a release method for micro-objects. To improve position accuracy after release, we propose 3D high-speed end-effector motions. The classical release task focuses on the detachment of a micro-object from an end-effector. The technique utilizes merely the vibration of the end-effector regardless of the pattern of movement. To release different sizes of micro- objects and place them precisely at the desired locations in both air and liquid media, in this paper, we propose high-speed motions by analyzing the adhesion force and movement of micro-objects after separation. To generate high end-effector acceleration, many researchers have applied simple vibration by using an additional actuator. However, in our research, 3D high-speed motion with apt amplitude is accomplished by using only a compact parallel mechanism. To verify the advantages of the proposed motion, we compare five motions, 1D motions (in X-, Y-, and Z-directions) and circular motions (clockwise and counterclockwise directions), by changing the frequency and amplitude of the end-effector. Experiments are conducted with different sizes of microbeads and NIH3T3 cells. From these experiments, we conclude that a counterclockwise circular motion can release the objects precisely in air, while 1D motion in the Y direction and two circular motions can detach the objects at the desired positions after release in a liquid environment.展开更多
基金the Research Fund for the Doctoral Programof Higher Education(20060007023)
文摘A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based on differentiation is used to get the (inverse) kinematics equations. Then a micro-scale motion precision simulation method is proposed according to finite element analysis (FEA), and the prediction of robot’s motion precision in design phase is realized. The simulation result indicates that the 6-DOF micro-manipulation robot can meet the design specification.
文摘This paper presents a release method for micro-objects. To improve position accuracy after release, we propose 3D high-speed end-effector motions. The classical release task focuses on the detachment of a micro-object from an end-effector. The technique utilizes merely the vibration of the end-effector regardless of the pattern of movement. To release different sizes of micro- objects and place them precisely at the desired locations in both air and liquid media, in this paper, we propose high-speed motions by analyzing the adhesion force and movement of micro-objects after separation. To generate high end-effector acceleration, many researchers have applied simple vibration by using an additional actuator. However, in our research, 3D high-speed motion with apt amplitude is accomplished by using only a compact parallel mechanism. To verify the advantages of the proposed motion, we compare five motions, 1D motions (in X-, Y-, and Z-directions) and circular motions (clockwise and counterclockwise directions), by changing the frequency and amplitude of the end-effector. Experiments are conducted with different sizes of microbeads and NIH3T3 cells. From these experiments, we conclude that a counterclockwise circular motion can release the objects precisely in air, while 1D motion in the Y direction and two circular motions can detach the objects at the desired positions after release in a liquid environment.
