In this paper is presented a developed robotic system for cell micro/nano manipulation and penetration, based on the visual/haptic interface. The operator’s motion and manipulations skills are transferred to the robot control system by direct teleoperation. The robot’s regional structure has three translational joints and one passive rotational joint for the nanorobot adjustment. The three-d.o.f piezo actuated nano robot is a compact and stiff structure, to guarantee the three-dimensional nano motion and control for sample manipulation or injection. The closed kinematic structure with two fundamental loops has been chosen for the required working space, high speed, and precision. The digraph-matroid approach is used for the model’s kinematics, and the SDS software for the robot’s simulation.
- Nanotechnology Institute
Teleoperation Hybrid Robot for Cell Micro and Nano Manipulations
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Ionescu, F, & Talpasanu, I. "Teleoperation Hybrid Robot for Cell Micro and Nano Manipulations." Proceedings of the ASME 2006 Frontiers in Biomedical Devices Conference. ASME 2006 Frontiers in Biomedical Devices Conference. Irvine, California, USA. June 8–9, 2006. pp. 35-36. ASME. https://doi.org/10.1115/NANOBIO2006-18018
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