A Kind of Three-degree-of-freedom Micromanipulator Used for Cell Puncture
In this article,a three degree-of-freedom micromanipulator driven by linear ultrasonic motors,which is composed of V-type linear ultrasonic motors,cross work benches and a control system,is proposed and further applied to cell puncture of the biomedical engineering.What’s first revealed is the structural design of the micromanipulator,for which the scheme is put forward and finite element is used to analyze the vibration characteristics of the platform and their influence on the positioning accuracy of the motion platform.Then design of the control system is discussed.With the TMS320F28335 floating-point DSP by TI company as its core chips fitted with peripheral component like FPGA and ultrasonic motor controller and signal from the optical encoder as the feedback of motor position,it constitutes a closed-loop control system,which realizes control over position and velocity of the motion platform in collaboration with the upper computer.Finally,development of a prototype and its experimental researches are accomplished.Experiment shows that the micromanipulator is capable of moving in such three directions as x,y and Z,with its motion stoke,position resolution and control precision being respectively 80mm×80mm×30mm,100nm and 1μm.Experiment further shows that this micromanipulator is competent in biological cell puncture.
micromanipulator linear ultrasonic motor resolution cell puncture
Ranran Geng Zhiyuan Yao Jin Sha Lin Sun
State Key Laboratory of Mechanics and Control of Mechanical Structures , Nanjing University of Aeronautics and Astronautics, Nanjing, 210016
国际会议
中国微米纳米技术学会第14届学术年会、第3届国际年会暨第6届微米纳米技术“创新与产业化国际研讨与展览会(CSMNT2012 & ICMAN2012)
杭州
英文
1-8
2012-11-04（万方平台首次上网日期，不代表论文的发表时间）