A new human-scale tele-operating system for biomedical applications

作者：Guo S^*; Wang J

来源：International Journal of Robotics and Automation, 2007, 22(1): 79-87.

• micro-operation
• complex control
• biotechnology
• micro-mechanism
• Piezo actuator

There is an urgent demand for a new human-scale tele-operating system to carry out three-dimensional high-speed micromanipulations for medical and biotechnological applications. In this paper, we propose a new human-scale tele-operating system consisting of three parts: the object, the operating system, and the observation system. The operating system is composed of two parts: the operating robot (the 6 degrees of freedom (DOF) precision parallel micromechanism) and the positioning system (the complex macro/microsystem). We designed a precision parallel micro-mechanism as the operating robot with 6 DOF, a movement range of 20 mu m, and a resolution of less than 20 nm. The positioning system also comprises two parts: a macromovement stage driven by servomotors and a micro-mechanism stage driven by Piezo actuators. We experimentally evaluated the precision parallel micro-mechanism and complex macro/micro-mechanism. Using our complex macro/micro-mechanism, we evaluated the complex macro/micro-control in one direction, the micro-mechanism complex control with 2 DOF, and the force feedback system. The experimental results indicate that the proposed human-scale tele-operating system can be used to manipulate micro-objects at high speed and with high precision.

• 出版日期2007
• 单位哈尔滨工程大学