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

fYear

0

fDate

0-0 0

Firstpage

681

Lastpage

686

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on

Conference_Location

Shatin

Print_ISBN

0-7803-9315-5

Type

conf

DOI

10.1109/ROBIO.2005.246350

Filename

1708828