Development of two arm micromanipulator for handling and assembling of minute objects in fixed view by use of pantograph mechanisms

Mikio Horie; Daiki Kamiya; Masahiro Kouno; Naoto Mochizuki; Yoshimichi Yoda; Akiharu Higaki; Makoto Nakamura

doi:10.1117/12.754424

10 October 2007 Development of two arm micromanipulator for handling and assembling of minute objects in fixed view by use of pantograph mechanisms

Mikio Horie, Daiki Kamiya, Masahiro Kouno, Naoto Mochizuki, Yoshimichi Yoda, Akiharu Higaki, Makoto Nakamura

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Proceedings Volume 6715, Optomechatronic Actuators and Manipulation III; 67150J (2007) https://doi.org/10.1117/12.754424
Event: International Symposium on Optomechatronic Technologies, 2007, Lausanne, Switzerland

Abstract

In the present paper, two arm micromanipulator for handling and/or assembling of minute objects in a fixed view by use of a pantograph mechanism is proposed and its performance is discussed. The pantograph mechanism has three parallelogram in the mechanism. In case of the pantograph mechanism, when two input actuators of the pantograph mechanism has a linear motion, one of the output link of the mechanism has a motion with constant orientation. And when an input link of the mechanism has a circular motion and when the output link has an endeffector with same length of a radius of the circular motion, the top position of the endeffector does not move. Therefore, if we use the manipulator as cell treatment manipulator, the view of motion area of the top of the endeffector does not move, only the direction of the output link of the endeffector can change like a circular motion. This motion is very useful for treating cells, electric micro devices, etc. Then, first, the motion principle and the motion function of the mechanism are explained. Second, the performance of the manipulator and, especially, the positioning precision of the manipulator are discussed.

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Mikio Horie, Daiki Kamiya, Masahiro Kouno, Naoto Mochizuki, Yoshimichi Yoda, Akiharu Higaki, and Makoto Nakamura "Development of two arm micromanipulator for handling and assembling of minute objects in fixed view by use of pantograph mechanisms", Proc. SPIE 6715, Optomechatronic Actuators and Manipulation III, 67150J (10 October 2007); https://doi.org/10.1117/12.754424

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KEYWORDS

Actuators

Electronic components

Analog electronics

Astatine

CCD cameras

Control systems

Microscopes

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