A parallel micro-manipulation robot

A micro-manipulation and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low motion resolution, less operating freedom, and small operating range, achieving high motion resolution, improving operating performance, The effect of a large operating range

Inactive Publication Date: 2016-06-29
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the main problems of most micro-manipulation robots are complex structure, less freedom of operation, small operation range, and low motion resolution.

Method used

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  • A parallel micro-manipulation robot
  • A parallel micro-manipulation robot
  • A parallel micro-manipulation robot

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Embodiment Construction

[0016] Such as figure 1 with figure 2 The parallel micro-manipulation robot shown includes a left micro-manipulator 1 and a right micro-manipulator 2 with the same structure and arranged symmetrically. The left micromanipulator includes a semi-cylindrical left micromanipulator mobile phone holder 8, the first branch chain 6, the second branch chain 7, the third branch chain 9, the left micromanipulator manual platform 18 and the left micromanipulator hand end tool 5. The right micromanipulator includes a semi-cylindrical right micromanipulator mobile phone holder 12, the fourth branch chain 10, the fifth branch chain 11, the sixth branch chain 13, the right micromanipulator manual platform and the right micromanipulator end tool 3.

[0017] image 3 In the left micro-manipulator shown, each branch chain includes a micro-displacement driver 15, a flexible moving pair 14 and two branches with the same structure, and each branch is composed of two flexible ball joints 16 and ...

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Abstract

A novel parallel micro-manipulator robot includes left and right micro-manipulators with the same structure and arranged symmetrically. The left micro-manipulator or the right micro-manipulator includes a semi-cylindrical micro-manipulator mobile phone holder, three branch chains, a micro-manipulator manual platform and a micro-manipulator end tool; each branch chain includes a micro-displacement driver, a flexible The mobile pair and two branches with the same structure, each branch is composed of two flexible ball joints and a rigid connecting rod, one end of each branch is connected with the left micro-manipulation manual platform, and the other end is connected with the flexible mobile pair, and the two The axes of the branches are parallel to each other, the fixed end of the micro-displacement driver is connected with the left micro-manipulation mobile phone frame, and the driving end is connected with the flexible moving pair. The three branch chains constituting each micromanipulator are evenly distributed in the semi-cylindrical space. The invention can realize three-dimensional high-precision operation, has a compact overall structure and has a large operating range and high resolution, and can be widely used in fields such as biomedical engineering and precision engineering.

Description

technical field [0001] The invention belongs to the field of advanced robots, and in particular relates to a novel parallel micro-operation robot which can be used in biomedical engineering and precision engineering. Background technique [0002] In recent years, science and technology are rapidly developing in the direction of miniaturization, precision, and high integration. Micro-electro-mechanical system processing and assembly, precision surgery, cell manipulation, cell fusion, chromosome cutting, gene injection and other applications require the level of precision and complexity of operations that have far exceeded the limits of human operation. This puts forward an urgent demand for the development of micro-manipulation robots with micro / nano-level positioning accuracy. [0003] Since 1991, countries such as Japan and the United States have begun to invest a lot of funds in the research of micro-manipulation robot systems, and have achieved good results. For example...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
Inventor 李杨民肖霄
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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