Manipulation and Dynamic Mechanical Testing of Microscopic Objects Using a Tele-Micro-Robot System

被引：19

作者：

Hunter, Ian W. ^{[1
]}

Lafontaine, Serge ^{[1
]}

Nielsen, Poul M. F. ^{[1
]}

Hunter, Peter J. ^{[2
]}

Hollerbach, John M. ^{[1
]}

机构：

[1] McGill Univ, Dept Biomed Engn, Montreal, PQ H3A 2B4, Canada

[2] Univ Auckland, Dept Engn Sci, Auckland 1, New Zealand

来源：

IEEE CONTROL SYSTEMS MAGAZINE | 1990年 / 10卷 / 02期

基金：

加拿大自然科学与工程研究理事会; 英国医学研究理事会;

关键词：

D O I：

10.1109/37.45787

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A micro-robot having two high-performance parallel drive limbs has been developed for manipulation, surgery, and dynamic mechanical testing of very small objects such as single living cells. The end points of each limb move in overlapping spherical workspaces of 1 mm diameter with minimum open- and closed-loop movements of 1 nm and 10 nm, respectively. The displacement bandwidth of all six micro-robot axes exceeds 1 kHz for small displacements. A three-dimensional (3-D) laser vision system with a resolution of 50 to 100 nm has been developed to provide the micro-robot with volume images containing magnitude, phase, polarization, and spectral information. A macro version of the micro-robot has been built to enable force-reflecting tele-operation of the micro-robot. The tele-micro-robot system permits both microscopic objects and continuum models to be felt. A high-performance parallel computer has been designed, and partially constructed, to meet the substantial computational and control requirements of the tele-micro-robot system.

引用

页码：3 / 9

页数：7

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