Development of a Precision Parallel Micromechanism for Human Scale Tel-Operating System

Author

Wang, Jian ; Guo, Shuxiang

Author_Institution

Dept. of Intelligent Mech. Syst. Eng., Kagawa Univ., Takamatsu

fYear

2006

fDate

25-28 June 2006

Firstpage

136

Lastpage

141

Abstract

In the medical field and biotechnology application, a new type of human scale tel-operating system (HSTOS) 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. In our research, we design a precision parallel micromechanism with 6 DOFs, 20 mum moving range, and 6-14 mum resolving power. And design a complex control for the macro/micro mechanism that is used to fix the operating object for target. In this paper, we describe how to design the precision parallel micromechanism for HSTOS. The experimental results indicate the developed precision parallel micromechanism can be controlled by teleoperation, and it is very useful for human scale micro operating system

Keywords

manipulator dynamics; micromanipulators; telerobotics; complex control; human scale tel-operating system; precision parallel micromechanism; teleoperation; three-dimensional high-speed micromanipulation; Atom optics; Automation; Biomedical engineering; Biomedical optical imaging; Biotechnology; Control systems; High speed optical techniques; Humans; Mechatronics; Optical microscopy; Biotechnology; Complex Control; Human Scale Tel-Operating System; Microoperation; Parallel Micromechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257466

Filename

4026069