Hybrid Micro-Nano Robot for Cell and Cristal Manipulations
- Authors
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Florin Ionescu
Steinbeis Transfer Institute Dynamic Systems SHB, University of Applied Sciences HTWG - Konstanz, Germany
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Kostadin Konstadinov
Bulgarian Academy of Sciences-Sofia, Bulgaria
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Stefan Arghir
"Politehnica" University of Bucharest, Romania
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Dragos Arotaritei
University of Medicine and Pharmacy G.T. Popa of Iasi, Romania
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- 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.
- References
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- Published
- 2011-06-22
- Issue
- Vol. 13 No. 2 (2011)
- Section
- Articles