力帰還型マイクロマニピュレータの安定性 : 第1報,操縦・非把握状態に対応可能なモデルの提案(機械力学,計測,自動制御)

概要

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This paper describes the new design method for force feedback micromanipulator capable of controlling both grasping and non-grasping conditions. Micromanipulator is now actively applied in the medical field such as a brain surgery operation, a cancer test, etc. However, the problem of this application is the stability of the system itself. Thus the proposed method mainly focuses on the stability of the bilateral servo system used in the design of micromanipulator. For this aim, a mathematical manipulator model is proposed which can apply both in grasping and non-grasping conditions. The displacement transmission ratio and the rigidity transmission performance, which are key factors in this proposal, are actually measured in the hardware design with one degree freedom. Further a simulator is also proposed to analyze the manipulator operation, in particular, the abnormal self-exciting oscillation in the operation. As the result, the performance anticipated by the design is obtained by the machine and the simulator.
一般社団法人日本機械学会の論文
2003-04-25