Study of an intelligent micro-manipulator

An intelligent micro-manipulator based on 3-PRS in-parallel mechanism was developed for the purpose of assembling micro-machines, operating biological cells, and performing micro-surgery. The micro-manipulator consists of a left finger and a right finger driven separately by three driving units. With such construction it can mimic the motion of Chinese chopsticks to manipulate a micro-object with a relatively large workspace and high precision. Presented here are the structure design method and the approach for kinematic analysis. The experimental setup for micro-manipulation is also discussed.