Master-slave micromanipulator apparatus

Patent · Fri Jan 01 04:00:00 EST 1999

OSTI ID:872477

Morimoto, Alan K ^[1]; Kozlowski, David M ^[1]; Charles, Steven T ^[2]; Spalding, James A ^[3]

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1. Albuquerque, NM
2. Germantown, TN
3. Springfield, KY

An apparatus based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be positioned in a remote location by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave. Forces import onto the master by the operator can be fed back into the control of the slave to reduce the forces required to move it.

• Research Organization: SANDIA CORP
• DOE Contract Number: AC04-94AL85000
• Assignee: Sandia Corporation (Albuquerque, NM)
• Patent Number(s): US 5943914
• OSTI ID: 872477
• Country of Publication: United States
• Language: English

Related Subjects

/74/414/901/
allow
apparatus
apparatus based
arms
arms projecting
attached
axis
axis gimbals
based
bellows
computer
computer control
computer controller
connected
control
controller
controls
degrees
dual-planar
dual-planar apparatus
encoders
environment
fed
force
forces
freedom
gimbals
incorporating
information
interaction
linear
linear motor
location
manipulator apparatus
master
master-slave
master-slave micromanipulator
micromanipulator
microns
motion
motion precise
motor
motor control
motors
move
operator
position
position information
positioned
precise
precision
precision linear
precision x-y
projecting
provide
provides
provides motion
provides six
reduce
reflected
remote
remote location
required
robotics
rod
rotation
sense
sensed
set
six
six degree
six degrees
slave
stacked
stage
stages
x-y
x-y stage
x-y stages