Analysis and design of a novel micro-dissection manipulator based on ultrasonic vibration - Details

Author：

Wu, Guangzhong (Wu, Guangzhong.) | Li, Jianfeng (Li, Jianfeng.) (Scholars：李剑锋) | Fei, Renyuan (Fei, Renyuan.) | Wang, Xinhua (Wang, Xinhua.) | Liu, Dezhong (Liu, Dezhong.)

Indexed by：

EI Scopus

Abstract：

A　novel　micro-dissection　manipulator　based　on　ultrasonic　vibration　is　presented　in　this　paper,　which　uses　the　3-RUU　pure　translational　parallel　mechanism　as　its　main　mechanism,　here　R,　U　respectively　stand　for　revolute　and　universal　joint.　A　vibration　unit　is　fixed　on　the　movable　platform　of　the　mechanism　and　a　needle　connected　to　the　unit　can　perform　task　of　micro-dissection　for　micro　living　organism　by　means　of　piercing　as　it　moves　with　the　platform.　Kinematics　of　the　micromanipulator　is　analyzed　based　on　pseudo　rigidity　body　model　(PRBM)　method,　its　kinematic　dimensions　are　identified　from　performance　atlas　utilizing　the　method　of　dimension　model　(MODM).　Moreover,　flexure　hinges　are　designed　to　create　the　flexure-based　compliance　mechanism.　Static　and　dynamic　performances　of　the　solid　model　are　analyzed　with　finite　element　method.　The　simulation　result　illustrates　that　motion　of　solid　model　is　coincident　to　that　of　PRBM　basically,　and　after　a　proper　frequency　of　the　vibration　unit　is　chosen　according　to　natural　frequencies　of　the　solid　model　the　micromanipulator　can　avoid　resonance　effectively　and　implement　accurate　motion.　©2005　IEEE.

Keyword：

Kinematics Robotics Ultrasonic waves Micromanipulators Vibrations (mechanical) Motion planning Computer simulation

Author Community：

[ 1 ] [Wu, Guangzhong]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Chaoyang District, 100022 Beijing, China
[ 2 ] [Li, Jianfeng]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Chaoyang District, 100022 Beijing, China
[ 3 ] [Fei, Renyuan]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Chaoyang District, 100022 Beijing, China
[ 4 ] [Wang, Xinhua]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Chaoyang District, 100022 Beijing, China
[ 5 ] [Liu, Dezhong]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Chaoyang District, 100022 Beijing, China