Calibration And Dynamic Research Of Chromosome Dissection Manipulator

The rapid development of micro-nano-technology is refining the research subjects continuously. Micromanipulation System is needed in all kinds of areas such as optical, ultra-precision machining and measurement, biological engineering, medical engineering, micro-electro-mechanical systems (MEMS) assembly operation. As a result, micro-operating system has broad application prospects.With the development of science and technology, these areas of the application of micro-operating system has put forward higher requirements, especially the higher demand of the movement accuracy, response speed, force sense, controllability and flexibility. For the micro-operating system, the nano-precision positioning should be concerned, and the large-scale micro-macro dynamic positioning should be paid attention at the same time. In response to these circumstances, domestic and foreign scholars have focused on Macro / micro dual-drive system and have achieved certain results.This paper carries deep research into the following issues:accuracy calibration,dynamics modeling and control simulation,nonlinear dynamics considering joint clearance and static stiffness analysis.In the accuracy calibration, the positive/negative kinematic solutions were provided. On this base, the calibration model and the Structure dimension affecting the accuracy were proposed.And the correction was done to the original kinematic solution with the results of the calibration simulation.In this way ,the kinematic error was reduced and the position accuracy of the instrument was improved.In the static stiffness analysis, the traditional method on the solution of the stiffness matrix or compliance matrix was abandoned,a specific method considering the special structure of the macro-mechanism was proposed and this greatly reduced the complicacy and improve the efficiency .In the dynamic modeling and control simulation,first ,the the dynamic model of the macro-mechanism using Kane methods was built and dynamic simulation using matlab was carried out. Then,the variable structure sliding mode control based on the dynamic model was proposed and sound effects were found with the sliding mode control method on the uncertainty and inaccuracy of the dynamic model.In the nonlinear dynamics modeling considering joint clearance,two kind of kinematic system of differential equations ,the first is with the two status of contact and free considered and the second is based on the consistent-contact model;On the solution of the kinematic system of differential equations,direct integral method was introduced to solve the dynamic response of the system.