Manipulation and dynamic mechanical testing of microscopic objects using a tele-micro-robot system

Abstract

A microrobot having two high-performance parallel drive limbs has been developed for manipulation, surgery, and dynamic mechanical testing of very small objects such as single living cells. The end-points of each limb move in overlapping spherical workspaces of 1 mm diameter with minimum open- and closed-loop movements of 1 nm and 10 nm, respectively. With optimal nonlinear model-based controllers the limbs can move at up to 2 m/s relative to each other. A variety of end effectors, including ferroelectric polymer microgrippers, may be attached to the limbs to permit cell manipulation. A 3D laser vision system with resolution of 50 to 100 nm has been developed to provide the microrobot with volume images containing magnitude, phase, polarization, and special information. A macro version of the microrobot has been built to enable force-reflecting teleoperation of the microrobot. The telemicrorobot system permits both microscopic objects and continuum models to be felt. A high-performance parallel computer has been designed to meet the substantial computational and control requirements of the system.