マイクロマニピュレーションに関する研究 : 回転を重視したマニピュレータ

概要

論文の詳細を見る
A conventional manipulator can drive its end point in three orthogonal directions, but it cannot change the direction and the rotational position of its arm. This paper discusses two methods: (1) the solid angle of the direction of the manipulator arm can be changed arbitrarily, which its end point remains steady in a narrow operation space and (2) the axis of the manipulator arm can turn entirely. On achieving the latter manipulator, one of the difficult problems is to make a bearing for supporting a pipe with a diameter of several tens of micrometers. A soluble plastic bearing is proposed. This paper discussed the limitations of making the bearing. The manipulator system is designed to easily be put on and off the pipette arm. The arbitrary direction changes of a microparticle are demonstrated by using two manipulators that pass the particle and rotate it alternately.
社団法人日本機械学会の論文
1991-01-25