以微型机器人为基础的自动化显微操作中英合体

上传人:枫** 文档编号:541375312 上传时间:2024-01-14 格式:DOC 页数:19 大小:474KB
返回 下载 相关 举报
以微型机器人为基础的自动化显微操作中英合体_第1页
第1页 / 共19页
以微型机器人为基础的自动化显微操作中英合体_第2页
第2页 / 共19页
以微型机器人为基础的自动化显微操作中英合体_第3页
第3页 / 共19页
以微型机器人为基础的自动化显微操作中英合体_第4页
第4页 / 共19页
以微型机器人为基础的自动化显微操作中英合体_第5页
第5页 / 共19页
点击查看更多>>
资源描述

《以微型机器人为基础的自动化显微操作中英合体》由会员分享,可在线阅读,更多相关《以微型机器人为基础的自动化显微操作中英合体(19页珍藏版)》请在金锄头文库上搜索。

1、A microrobot-based automated micromanipulation station forassembly of microsystemsSergej Fatikow Mirko BenzAbstract:The development of new types of miniaturized and microrobots with human-like capabilities play an important role in different application tasks. One of the main problem of present-day

2、research is, for example, to assemble a whole microsystem from different microcomponents.This paper presents an automated micromanipulation desktop station including a piezoelectrically driven microrobot placed on the highly-precise xy stage of a light microscope, a CCD-camera as a local sensor subs

3、ystem, a laser sensor unit as a global sensor subsystem, and a Pentium PC equipped additionally with an optical grabber. The microrobot has three piezoelectrically driven legs and two autonomous manipulators as endeffectors; it can perform highly-precise manipulations (with an accuracy of up to 10 n

4、m) and a nondestructive transport (at a speed of several mm/s) of very small objects under a microscope. To perform manipulations automatically, a control system, including a task planning level and a real-time execution level, is being developed. (C)1998 Elsevier Science B.V. All rights reserved.Ke

5、ywords: Microrobots; Microassembly; Automated desktop station; Assembly planning; Piezoactuators1.Introduction:There is a growing need for miniaturized and microrobots worldwide. Due to the enormous breakthroughs in conventional robotics and in the microsystem technology (MST),everyone is convinced

6、that the development of remote-controlled or autonomous microrobots will lead to improvements in many areas. Above all, positive results are expected in medicine (microsurgery),manufacturing (microassembly, inspection and maintenance), biology (manipulation of cells) and testing/measuring technique

7、(VLSI) . Medicine is one of the application fields which would profit by the microrobotics the most. The attention lies on artificial organs (prosthetics) , laparoscopy, implantable drug delivery systems (diagnosis and therapy systems) , telemicrosurgery, etc. The minimal-invasive surgery developed

8、into an important field of medicine during the last years.Smaller and more flexible active endoscopes are needed in order to replace human hands, respond to outer incidents, penetrate into a body or a vessel through natural bodily orifice or a small incision by remote control, where they perform com

9、plex in-situ measurements and manipulations. In order to meet these requirements, microprocessors, several sensors and actuators, a light source and possibly an image processing unit should be integrated into an intelligentendoscope. Biotechnology requires special microstructured active tools which

10、are able to perform micromanipulations like the sorting or reunion of cells or the injection of a foreign body into a cell under a microscope. In the gene research and the environment technique (cells as indicators for harmful substances), precise and gentle manipulation of single cells are also req

11、uired. Industry and especially manufacturing and measuring techniques need highly sensitive testing methods in the m-range. An important task represents, for example, the inspection of wafers, where several check points have to be contacted by a temperature or voltage probe. The same is valid for in

12、spection robots which are used in inaccessible or dangerous terrain in order to detect leaks or flaws and make repairs (e.g., in pipelines)。The adoption of MST-related developments by the industry has already demonstrated which kind of problems occur with the mass production of microsystems. These s

13、ystems usually consist of microcomponents of different materials which are produced with various microtechniques; this leads to one or several very precise assembly step (s)of theindividual components. The assembly of microsystems, i.e., the non-destructible transport, precise manipulation or exact

14、positioning of microcomponents is becoming one of the most important applications in microrobotics.2. Manipulation of microobjects:The availability of highly precise assembly processes will make it easier to economically realize operable microsystems. In order to efficiently produce microsystems and

15、 components in lot sizes or by mass-production techniques, it is absolutely necessary to introduce flexible, automated, precise and fast microassembly stations. Different concepts are being followed to do micromanipulation for particularclasses of application.Purely manual micromanipulation is the m

16、ost often used method today. In medicine and biological research, it is used exclusively. Even in industry, microassembly tasks are very often carried out by specially trained technicians, who, for example, preposition assembly parts using screws and springs, then position the parts with tiny hammers and tweezers, and finally fasten them in the desired position. However, with increasing component miniaturization, the tolerances become smaller and smaller, and the c

展开阅读全文
相关资源
正为您匹配相似的精品文档
相关搜索

最新文档


当前位置:首页 > 生活休闲 > 游戏攻略

电脑版 |金锄头文库版权所有
经营许可证:蜀ICP备13022795号 | 川公网安备 51140202000112号