Research Of A New Type Of 5 DOF Gripper For Micro-manipulating Based On Thermoelectric Effect

Manipulating micro-objects has become a challenging task in many research fields. As a basic method in manipulating, manufacturing, assembling and detecting micro-objects or biology samples, researchers have paid more and more attention on the research of micromanipulators. Nowadays the research about micromanipulators is a worldwide topic.The main focus of this thesis is to propose and study on a 5-DOF micro-manipulator. There are two parts in this manipulator, an ice gripper based on thermoelectric effects and a high accurate 5-DOF micro-manipulation arm. The ice gripper can realize manipulation directly on micro-objects, and the micro-manipulation arm can adjust the attitude and location between the gripper and micro-object. This manipulator has some advantages such as simplified structure, fabricating and operation, low-cost, flexible in changing working status, wide range of temperature regulation and high response speed. Shape, size and weight of a micro-object can be neglected when this system is working.The contents of this thesis can be divided into the following sections:First, a novel ice gripper based on thermoelectric effects of the semiconductor refrigerator is proposed in this thesis. It includes the following parts, a semiconductor refrigerator, an end-effecter and heat dissipating devices. Structure design, thermoelectric effects and the principle of semiconductor refrigerators are discussed in this thesis.Second, a 5-DOF micro-manipulation arm is designed which includes three line translational degrees and two mutual perpendicular rotational freedoms. The mechanical structure design, driving and controlling system of the two mutual perpendicular rotational freedoms are especially recommended. This thesis not only deduces the forward and reverse solution of kinematics of the 5-DOF micro-manipulation but also analyzes and simulates the locomotion space and the error effect between attitude adjustment and position adjustmentAt last, the principle and control strategies of the micro operation system based on the 5-DOF micro-manipulator are introduced. Analysis of the working process and factors which affect this process is presented based on the experiment. The factors for the ice ball forming, the factors for the micro object operating, the size of objects which suits the micro-manipulator to grip are given.