Development of a Micromanipulator with Multiple Degrees of Freedom
Date Issued
2006
Date
2006
Author(s)
Ip, Sio-Fong
DOI
en-US
Abstract
This thesis presents the development of a micromanipulator for micro-scale manipulation tasks such as microassembly and cell injection. The design of the micromanipulator is based on task requirements. The micromanipulator provides four degrees of freedom (DOFs) for dexterous motion. To achieve high resolution, large workspace and compact structure, a hybrid configuration which is a combination of a parallel selectively compliant assembly robot arm (SCARA) configuration and a serial mechanism was proposed. Due to its compact size, the micromanipulator can operate in a microfactory. In kinematic design, a novel method was proposed to select kinematic parameters so that the prescribed workspace can be achieved. To determine a unique set of kinematic parameters, kinematic performance indices were also introduced. Analyses of required angular velocity and torque of each actuated joint for a typical task were performed and used as a criterion for selection of actuating components. Based on the mechanical design, kinematics and dynamics in both forward and inverse cases were derived and verified.
Trajectory planning based on modified tension spline (MTS) was performed for tracking of a desired Cartesian path. Digital signal processor (DSP) and field programmable gate array (FPGA) were employed to implement the multi-joint control of the micromanipulator. Driver modules were also developed. Finally, a prototype of the micromanipulator was fabricated. Experimental results demonstrate the feasibility of the proposed system in micromanipulation.
Subjects
微操作
混合式機械手臂
機構設計
運動學
動力學
軌跡規劃
定位控制
micromanipulation
hybrid manipulator
mechanical design
kinematics
dynamics
trajectory planning
position control
Type
thesis
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