Dynamic Modeling, Simulation And Experimental Researches Of A 4-DOF, Two-finger,parallel Micromanipulation System Driven By Linear Ultrasonic Motors

In recent decades, with the continuous development of the medical field and the biological engineering field, the micromanipulation technology is getting more and more attention. Micromanipulation refers to carrying out high-precision operations of tiny objects with the diameter under 1mm with the help of electronic-telescope or other instruments. For instance, scientists in the field of medical and biological engineering need to do a lot of micro manipulating operations, such as shift, clamp, slice up or puncture cells. The use of micromanipulator makes it convenient to do such operations, so micromanipulator has a bright prospect and much application values in these fields. This study was based on linear ultrasonic motor, which owns a series of advantages, such as large-stroke, fast response, compact structure. Taken linear ultrasonic motors as actuator, we have designed and improved a 4-DOF, parallel micromanipulation system, whose displacement resolution achieves 96 ?m and the maximum output displacement is 2mm. This research has a positive effect on the development of the field of biological engineering, medical field and micro/nano science and technology.In this paper, a 4-DOF, two-finger, parallelled manipulation system driven by linear ultrasonic motors is put forward. Structure is described in detail at first, meanwhile, kinetic mechanism is expounded. By using ADAMS software, the dynamic analysis model of this micromanipulator is established and dynamic simulation is carried out, after which a series of movement parameters are derived. Finally, by conducting experimental researches, further properties of micromanipulator is studied, the availability and practicability is tested. Mechanical drift, which happens during the use of micromanipulator, has also been studied, reasons and method of reducing the influence of mechanical drift are also described.