Microscopic pick-and-place teleoperation

Pamela Bhatti; Blake Hannaford; Pierre-Henry Marbot

doi:10.1117/12.142096

26 March 1993 Microscopic pick-and-place teleoperation

Pamela Bhatti, Blake Hannaford, Pierre-Henry Marbot

Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142096
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

A three degree-of-freedom direct drive mini robot has been developed for biomedical applications. The design approach of the mini robot relies heavily upon electromechanical components from the Winchester disk drive industry. In the current design, the first joint is driven by actuators from a 5.25' drive, and the following joints are driven by actuators typical of 3.5' drives. The system has 5 - 10 micrometers of position repeatability and resolution in all three axes. A mini gripper attachment has been fabricated for the robot to explore manipulation of objects ranging from 50 micrometers to 500 micrometers . Mounted on the robot, the gripper has successfully performed pick and place operations under teleoperated control. The mini robot serves to precisely position the gripper, and a needle-like finger of the gripper deflects so the fingers can grip a target object. The gripper finger capable of motion is fabricated with a piezoelectric bimorph crystal which deflects with an applied DC voltage. The experimental results are promising, and the mini gripper may be modified for future biomedical and micro assembly applications.

Citation Download Citation

Pamela Bhatti, Blake Hannaford, and Pierre-Henry Marbot "Microscopic pick-and-place teleoperation", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142096

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