TY - GEN
T1 - Workspace optimization for multi-scale micromanipulation system
AU - Avci, Ebubekir
AU - Ohara, Kenichi
AU - Takubo, Tomohito
AU - Mae, Yasushi
AU - Arai, Tatsuo
PY - 2010
Y1 - 2010
N2 - In the recent years, the demand for micro and nano motion devices has increased in many industrial applications such as assembling micro machines, manipulating biological cells, and micro-surgical operations like neurosurgery and ophthalmology. As a result, there is an urgent need to develop micro-nano manipulators capable of performing very small motion with high resolution and sometimes with high speed. However, in micro environment, all kind of objects have different dimensions. Some of them are a few micrometers (μm) such as donor cells, some of them are more than a hundred μm such as egg cells. At this point, only a multi-scalable manipulator can hold very different size micro objects. For multi-scale manipulation, workspace size of the end effector is the key point. In this paper, we aim to find optimum design by checking different orientations of end effector's workspace size through inverse kinematics.
AB - In the recent years, the demand for micro and nano motion devices has increased in many industrial applications such as assembling micro machines, manipulating biological cells, and micro-surgical operations like neurosurgery and ophthalmology. As a result, there is an urgent need to develop micro-nano manipulators capable of performing very small motion with high resolution and sometimes with high speed. However, in micro environment, all kind of objects have different dimensions. Some of them are a few micrometers (μm) such as donor cells, some of them are more than a hundred μm such as egg cells. At this point, only a multi-scalable manipulator can hold very different size micro objects. For multi-scale manipulation, workspace size of the end effector is the key point. In this paper, we aim to find optimum design by checking different orientations of end effector's workspace size through inverse kinematics.
KW - Inverse kinematics
KW - Multi-Scale micro manipulation
KW - Parallel mechanism
UR - https://www.scopus.com/pages/publications/78751489061
U2 - 10.1109/MHS.2010.5669525
DO - 10.1109/MHS.2010.5669525
M3 - Conference contribution
AN - SCOPUS:78751489061
SN - 9781424479962
T3 - 2010 International Symposium on Micro-NanoMechatronics and Human Science: From Micro and Nano Scale Systems to Robotics and Mechatronics Systems, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010
SP - 328
EP - 333
BT - 2010 International Symposium on Micro-NanoMechatronics and Human Science
T2 - 21st Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010
Y2 - 7 November 2010 through 10 November 2010
ER -