DESIGN OF HIGH-FREQUENCY AND MICRO-AMPLITUDE VIBRATION BASED MANIPULATOR FOR

MICROSCOPICAL DISSECTION

LI Jianfeng  WU Guangzhong  FEI Renyuan  LIU Dezhong  YANG Xiaoyong  GUAN Changle

(Key Laboratory of Advanced Manufacturing Technology of Beijing Municipality, Beijing University of Technology, Beijing 100022  )

Abstract: A high-frequency and micro-amplitude vibration based manipulator for microscopical dissection is proposed, in which the 3-RUU parallel mechanism having three pure translational degrees is adopted as the micro-motion mechanism, and a PZT unit generating high-frequency and micro-amplitude vibration is fixed on movable platform of the micro-motion mechanism. Moving along with the large motion of movable platform and synchronously actuated by the high-frequency and micro-amplitude vibration of the PZT unit, the operational needle can perform the micro-dissection tasks. The dimensional model of the 3-RUU micro-motion mechanism is established, the performance atlas describing the relationships between the dimensional parameter combinations and mechanism performances are protracted, and the kinematic parameters of micro-motion mechanism are determined by means of these performance atlas. Using the finite element method, the static and dynamic characteristics of the micro-motion mechanism are analyzed, and the structural parameters of the micro-motion mechanism as well as the driving unit are designed ulteriorly. According to the obtained kinematic and structural parameters, a micro-dissection manipulator prototype is fabricated, which can be used as a basic module in a microscopical dissection operational experiment system.

Key words: High-frequency and micro-amplitude vibration Microscopical dissection Manipulator Design

CLC No: TH112.1 TP24.2

国家自然科学基金(60275031)和北京市先进制造技术重点实验室开放基金(KP0100200201)资助项目. Received 20060617, received in revised form 20060901