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In the recent years, the demand for micro and nano motion devices has increased in many industrial applications such as assembling micro machines, manipulating biological cells, and micro-surgical operations like neurosurgery and ophthalmology. As a result, there is an urgent need to develop micro-nano manipulators capable of performing very small motion with high resolution and sometimes with high...
In this paper, we presented a design for an automated single cell loading and supply system that can be used with complex microfluidic applications requiring single cell loading such as the current nuclear transplantation method. The aim of the system is to automatically transfer mammalian donor (~15 ??m) or egg (~100 ??m) cells one by one from a container to a PDMS micro-channel and then transport...
Micro robotics is a significant area to be able to manipulate micro level objects dexterously. Until now, various micro manipulation systems have been presented. In micro environment, different kinds of objects have different dimensions. Some of them are a few micrometers (??m) such as donor cells, some of them are more than a hundred ??m such as egg cells. At this point, a manipulator which has multi-scale...
The development of a chopstick-like two-fingered micromanipulator based on a hybrid mechanism is presented. The microhand consists of two 3-prismatic-revolute-spherical (PRS) parallel modules connected serially in a mirror image style. Each module has a long glass pipette as an end effector. The development process consists of three phases. In the first phase, analysis and mathematical modeling, a...
A two-fingered micro hand has been developed for years and it allows dexterous manipulation of a single cell: grabbing, positioning, rotation and releasing. The end-effector of this micro hand consists of two glass needles. Before grabbing an object, the glass needles need to be approached to each other manually (initial setup). However, this operation requires high skill manual control, so that it...
The optimization and design process of a two-fingered micro hand that uses a hybrid motion mechanism is presented. The hybrid hand consists of two 3-PRS parallel modules - upper and lower - connected serially back to back in a mirror image style. It is driven by piezo-electric actuators and has two long glass petites as end effectors. The most important part in the development process is the optimization...
In this paper, the structure of a new compact and yet economical two-fingered micro-nano hybrid manipulator hand is presented. The hybrid manipulator hand consists of two series modules; upper and lower module. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuated prismatic joints in each of the three legs of the...
A dexterous micromanipulation system consisting of a two-fingered micro hand, an auto-focusing optical microscope, an image processing system and user interfaces has been developed. The micro hand has 6 DOF: 3 DOF for each of two fingers. These fingers work just like thumb and forefinger. Thus this hand can grasp, move, rotate and release micro objects. A human operator can operate this hand using...
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