Design and Initial Experiments of A Micro Vibration Based Micromanipulator

A high-frequency and micro-amplitude vibration based micromanipulator is proposed, which is composed of a micro-motion parallel mechanism having three pure translational degrees of freedom and a micro-vibration unit having one degree of freedom. The micro-vibration unit is fixed on movable platform of the parallel mechanism, and an glass operational needle is connected with the micro-vibration unit. The needle can perform micro operational tasks while the movable platform of parallel mechanism moves in a large region and the unit vibrates with high frequency and micro amplitude. The kinematic and structural parameters of the micro-motion mechanism and vibration unit are designed, the PZT actuators are chosen, and a micromanipulator prototype is fabricated. An experiment system is set up in which the micromanipulator is adopted as a main module. The performance of micromanipulator is validated through two initial operational experiments, one is the vibrational injection of cow oocyte, another is the windowing of cow oocyte membrane, the results of experiments show that the micromanipulator can complete these operations successfully