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EXPERIMENTAL RESEARCHES OF A 3-DOF PARALLEL micromanipulator DRIVEN BY LINEAR ULTRASONIC MOTORS

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EXPERIMENTAL RESEARCHES OF A 3-DOF PARALLEL MICROMANIPULATOR...

Research on DOF selection of parallel micromanipulator

2015全国压电和声波理论及器件技术研讨会

作者： Yun WANG Zhi-yuan YAO Ran-ran GENG Ling-chao MENG State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and Astronautics Jiangsu Key Laboratory of Accuracy and Micro-Manufacturing Technology Nanjing University of Aeronautics & Astro nautics

A 3-DOF micromanipulator driven by linear ultrasonic motors is proposed in this *** with the traditional micromanipulator based on static deformation of piezoelectric ceramics（high displacement resolution,micro-size motion range）,this micromanipulator owns motion range in millimeter size（2 mm）while having high displacement resolution（50 nm）.First of all,working principle of the micromanipulator is *** mechanism is adopted in this micromanipulator,linear ultrasonic motors are taken as the sliding pair to actuate the micromanipulator and flexible hinge are introduced as revolute *** kinematics analysis of the micromanipulator is carried ***,a series of experimental studies are illustrated in detail,steel balls and shrimp roe had been grasped and moved by this micromanipulator under *** experimental results show that the micromanipulator can be applied to grab and move tiny *** micromanipulator has good performance and can be used in medical and biological engineering field.

关键词： Piezoelectric motor Linear ultrasonic motor micromanipulator Parallel mechanism

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Research on DOF selection of parallel micromanipulator

Research on type synthesis of 3 DOF translational parallel micromanipulator

第五届海内外青年设计与制造科学会议

作者： BI Shu-sheng, ZHAO Wei, SU Ling-song, ZONG Guang-hua (Beijing University of Aeronautics and Astronautics, Institute of Mechanical Engineering and Automation)

What kind of parallel mechanism suitable for micromanipulation is the crux of an argument in the domain of micromanipulators. In this paper, the study situation of parallel micromanipulators is analyzed. The motion mode of the micromanipulator is studied. How to select the Degree of Freedom of the micromanipulation is discussed. The theoretic basis of the 3 DOF translational parallel mechanism suitable for micaomanipulation is also explained.

关键词： micromanipulator Parallel Mechanism Degree of Freedom

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Research on type synthesis of 3 DOF translational parallel m...

Research on vacuumgripper based on fuzzy control for micromanipulators

第五届海内外青年设计与制造科学会议

作者： BI Shu-sheng YU Jing-jun SU Ling-song ZONG Guang-hua (Beijing University of Aeronautics and Astronautics Institute of Mechanical Engineering and Automation)

＜正＞Based on the concept of Order and the Kutzbach Grubler formula, all the possible types of parallel mechanisms with 3 DOF are numbered. The principles for the mechanism synthesis are explained by applying the screw theory. According to the reciprocal product of force wrench and motion wrist, the type synthesis problem of 3DOF translational parallel mechanism is studied detailedly. In addition, the advantages and disadvantages of some representative 3DOF translational parallel mechanisms as micromanipulators are analyzed qualitatively.

关键词： micromanipulator Parallel Mechanism Type Synthesis Screw Theory

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控制理论与应用（英文版） 2005年第3期3卷 295-301页

作者： Guoliang CHEN Xinhan HUANG Min WANG Department of Control Science and Engineering Huazhong University of Science ＆ Technology Wuhan Hubei 430074 China

This paper presents a vacuum gripper （as an actuator of an intelligent micromanipulator） for micro objects （with a diameter of 100 - 300μm） assembly tasks. The gripper is composed of a vacuum unit and a control unit. The vacuum unit with a proportional valve and a pressure sensor, and the control unit with a PC ＋ MCU two-layered control architecture are designed. The mechanical structure, workflow and major programs of the micro-gripper are presented. This paper discusses the major components of the adhesion force acting on micro objects. Some equations of the operation conditions m three phases of pick, hold and place are derived by mechanics analysis. The pneumatic system＇s pressure loss is inevitable. There are some formulas for calculating the amount of the pressure loss, but parameters in formulas are diffficult to be quantified and evaluated. To control the working pressure accurately, a pressure controller based on fuzzy logic is designed. With MATLAB＇s fuzzy logic toolbox, simulation experiments are performed to validate the performance of the fuzzy PD controller. The gripper is characterized by a steady and reliable performance and a simple structure, and it is suitable for handling micro objects with a sub-millimeter size.

关键词： micromanipulator Micro assembly Vacuum micro gripper Fuzzy PD

维普期刊数据库

Handmade cloning:recent advances,potential and pitfalls

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Journal of Animal Science and Biotechnology 2015年第4期6卷 378-387页

作者： Geetika Verma JS Arora RS Sethi CS Mukhopadhyay Ramneek Verma School of Animal Biotechnology Post Graduate Institute of Veterinary Education and ResearchGuru Angad Dev Veterinary and Animal Sciences University

Handmade cloning （HMC） is the most awaited, simple and micromanipulator-ffee version of somatic cell nuclear transfer （SCNT）. The requirement of expensive micromanipulators and skilled expertise is eliminated in this technique, proving it as a major revolution in the field of embryology. During the past years, many modifications have been incorporated in this technique to boost its efficiency. This alternative approach to micromanipulator based traditional cloning O-C） works wonder in generating comparable or even higher birth rates in addition to declining costs drastically and enabling cryopreservation. This technique is not only applicable to intraspecies nuclear transfer but also to interspecies nuclear transfer （iSCNT） thus permitting conservation of endangered species. It also offers unique possibilities for automation of SCNT which aims at production of transgenic animals that can cure certain human diseases by producing therapeutics hence, providing a healthier future for the wellbeing of humans. The present review aims at highlighting certain aspects of HMC including recent advancements in procedure and factors involved in elevating its efficiency besides covering the potentials and pitfalls of this technique

关键词： Handmade cloning micromanipulator Somatic cell nuclear transfer Transgenic Zona free cloning

维普期刊数据库

Type synthesis of parallel mechanisms with three translational degrees of freedom

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Progress in Natural Science:Materials International 2003年第7期 58-67页

作者： YU Jingjun , ZHAO Tieshi, BI Shusheng, ZONG Guanghua and HUANG Zhen (1. Robotics Institute, Beijing University of Aeronautics & Astronautics, Beijing 100083, China 2. Robotics Research Center, Yanshan University, Qinhuangdao 066004, China) Robotics Institute Beijing University of Aeronautics & Astronautics Beijing 100083 China Robotics Research Center Yanshan University Qinhuangdao 066004 China

A simple but effective type synthesis method for spatial parallel mechanisms with three translational degrees of freedom (DOF) based on the screw theory is presented. Firstly all possible connecting-chain structures of three-DOF parallel mechanisms are enumerated. According to the reciprocal relationship between screw constraint forces and the motion screw, a novel synthesis method is presented. By using this method, type synthesis for translational three-DOF parallel mechanisms has been made in a systematic and detailed way. As a result, dozens of novel parallel mechanisms generating spatial translation have been obtained. To verify the significance of type synthesis for this kind of mechanism, this paper also gives an example of application, which is used for a micromanipulator for manipulating cells.

关键词： type synthesis parallel mechanism screw theory micromanipulator degree of freedom.