Title :
A human scale tel-operating system for microoperation -Macro/Micro complex mechanism for HSTOS-
Author :
Wang, Jian ; Guo, Shuxiang
Author_Institution :
Dept. of Intelligent Mech. Syst. Eng., Kagawa Univ., Takamatsu
Abstract :
In the medical field and biotechnology application, a new type of HSTOS (human scale tel-operating system) used to carry out three-dimensional high-speed micromanipulation is demanded urgently. In this paper, we deal with a type of HSTOS. In order to operate microobject in human scale (the working table or micromanipulator) with multi-DOFs, a macro/micro mechanism system is proposed. Firstly, we design a precision parallel micromechanism with 6 DOFs, 10 mum moving range, and 6-14 nm resolving power that has been reported, and complex control for the macro/micro mechanism that will be used to fix the operating object to target. The experimental results indicate the proposed macro/micro mechanism can be controlled by teleoperation, and it is very useful for human scale micro operation system
Keywords :
biotechnology; manipulator dynamics; micromanipulators; telerobotics; human scale tel-operating system; micromanipulator; microoperation; parallel micromechanism; teleoperation; Biotechnology; Control systems; Electrical equipment industry; Humans; Intelligent systems; Machine vision; Mechanical systems; Micromanipulators; Optical microscopy; Power system modeling;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246350
