Title :
Development of a macro/micro mechanism for human scale teleoperating system
Author :
Guo, Shuxiang ; Sugimoto, Koichi ; Hata, Seiji
Author_Institution :
Dept. of Intelligent Mech. Syst. Engng., Kagawa Univ., Takamatsu, Japan
Abstract :
In the medical field and in biotechnology application, a new type of human scale teleoperating system that can carry out three-dimensional high-speed micromanipulation has urgently been demanded. It is our purpose to develop a new type of human scale operating system for microoperation that can manipulate a microobject. In this paper, we deal with a human scale teleoperating system. In order to operate microobject in human scale, the working table and micromanipulator with multi DOF are demanded to be developed. The authors describe a macro/micro mechanism for the system. Firstly, they designed a precision parallel micromechanism with 6 DOF (10 μm Moving Range, 10nm Resolving Power), and composed the macro/micro mechanism. Then, they also designed the complex control for the macro/micro mechanism. Experimental results indicate that the proposed macro/micro mechanism can be controlled by teleoperation, and that it is very useful for human scale microperation system
Keywords :
biotechnology; micromanipulators; position control; telerobotics; 10 μm Moving Range; 10 mum; 10nm Resolving Power; 3D high-speed micromanipulation; 6 DOF; biotechnology; complex control; human scale teleoperating system; macro/micro mechanism; micromanipulator; microobject; multi DOF; parallel micromechanism; teleoperation; Biomedical engineering; Biotechnology; Control systems; Force control; Humans; Medical control systems; Medical diagnostic imaging; Micromanipulators; Operating systems; Power system modeling;
Conference_Titel :
Micromechatronics and Human Science, 2000. MHS 2000. Proceedings of 2000 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6498-8
DOI :
10.1109/MHS.2000.903307