Study On Parallel Micromanipulator Based On Microinjection

The Bioengineering has developed rapidly with the development of the micromanipulator in the recent years. This paper studies the parallel micromanipulator of cell micro-injection, focusing on the application field of the cell micro-injection manipulate and composed the characteristics of the parallel micromanipulator. The content as follows:1. The configuration of the lower-DOF parallel micromanipulator is studied based on the analysis of the micro-injection operation request and the characteristics of the parallel micromanipulator structure. The theory basis for the configuration of micromanipulator is established.2. The limb structure that the moving platform can realize the three translation is compared and analysed. The 3-RUU parallel manipulator is contrasted, a new 3-RUU flexure parallel manipulator is designed, disposed by perpendicularity, through the replacement by the flexure hinges. The 3D model is established.3. The relationship between the kinematics accuracy and the structure and compliance of several kinds of flexure hinges is studied based the characteristics of micromanipulator. Pay attention to the changes of the rotation axis when the flexure hinges is affected by the force or torque, and presented the flexure hinges design method that create the corresponding structure flexure hinges by the different force.4. The kinematics characteristics of the 3-RUU flexure parralel manipulator is analysed, and the forward and inverse kinematics of the 3-RUU micro-injection manipulator is established. The model was analysed by Matlab software. Finite element anlysis of the 3-RUU cell injection is carried out, and the result of simulation analysis shows that the kinematics character is fit for the request of the subject.