Structural Design Of Micro-hand Based On The Ultrasonic-linear-motor

In the field of biomedical engineering，genetic engineering，clone technology，chromosomeanalysis and artificial insemination，the cell all be the important object to be study. In ourstudy,we would grab，turn，puncture，inject and cut the cell，so the micro-manipulation is justneeded for those processing. Micro-manipulation is a kind of electromechanical system in macroview, but it can manipulate the micro-nano structure, belong to the micro-nano manufacturingtechnology. This paper use the linear ultrasonic motor for driving， have designed amicro-manipulation system for cell garbing，truing，puncture，injection and cutting. The researchwould promote the development of biomedical engineering and micro-nano manufacturingtechnology of our country, and is significant for theory and application.This paper has designed a two-fingered micro-manipulation of four degree of freedom, whichis based on the linear ultrasonic motor. A parallel manipulator connected by flexure hinge isproposed. Statics analyses of the manipulation have been done, and we got the solution of theposition of the needle tip. We use the Pro/E and ANSYS for the modeling of themicro-manipulation, and then the dynamics simulation analysis is done by using ADAMS.Moreover the paper introduces application of linear ultrasonic motor in micro-manipulation indriving technology. The mechanical drift of the ultrasonic linear motor is also studied byexperiment， it is very important for the stability and positioning accuracy of themicro-manipulation designed by this paper.