Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation

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• 作者：Eunhye Kim ; Masaru Kojima ; Liu Xiaoming ; Takayuki Hattori…
• 关键词：Micromanipulation ; High speed end effector motion ; Piezo ; actuator ; Rotational flow
• 刊名：ROBOMECH Journal
• 出版年：2017
• 出版时间：December 2017
• 年：2017
• 卷：4
• 期：1
• 全文大小：2408KB
• 刊物类别：Robotics and Automation; Mechatronics; Artificial Intelligence (incl. Robotics); Control; Computatio
• 刊物主题：Robotics and Automation; Mechatronics; Artificial Intelligence (incl. Robotics); Control; Computational Intelligence;
• 出版者：Springer International Publishing
• ISSN：2197-4225
• 卷排序：4

文摘

This paper presents a non-contact manipulation method using rotational flow generated by high speed motion of a glass needle. In order to generate an applicable motion that can precisely control the speed and position of a target object around an end effector, a manipulator actuated by three piezoelectric actuators is proposed. A compact parallel link produces precise three-dimensional motions. To reach the required end-effector frequency and amplitude, which is necessary for generating the rotational flow that can make rotational movement of microbeads having patterned data, the end effector motion is generated by controlling the three piezoelectric actuators at high speed. In this paper, we focus on rotational flow created by two-dimensional circular motion of the end effector mounted on the parallel link. By changing the amplitude and frequency of the circular motion, the generated swirl flow is analyzed in 3D space using 9.6-μm microbeads. We analyzed the velocity toward to the root of the end effector and angular velocity around the end effector by formulating models. From the analyzed data, we verified that the rotational flow has potential to manipulate micro-objects precisely in 3D space.