Hybrid Micro-Nano Robot for Cell and Cristal Manipulations

Abstract

The paper presents some Computer Assisted Engineering (CAE) aspects concerning the achievement of a hybrid actuated micro-nano robot. Starting from a unitary concept Control - Design, different kinematic solutions were developed and compared, before a decision upon the structure was selected. Multiple closed loop simulations were performed via MATLAB/Simulink, Solid Dynamics and ANSYS software. The experimental results for the nano-stages/actors were run for two XY orientations with a range of 240 arcsec while and for translation in Z direction in a stroke range of 65 microm, and system resolution of 10 nm. Additional identification and reconstruction of the hysteresis curves were obtained and implemented in the model by using a Neuro-Fuzzy technique. Two hardware systems were developed for the micro and nano robot respectively. Corresponding software HMI capable also of joy-stick telemanipulation was developed.