| 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. |
