Master-slave micromanipulator method
- Albuquerque, NM
- Germantown, TN
- Springfield, KY
A method 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 remotized 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 National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
- DOE Contract Number:
- AC04-94AL85000
- Assignee:
- Sandia Corporation (Albuquerque, NM)
- Patent Number(s):
- US 6000297
- OSTI ID:
- 872744
- Country of Publication:
- United States
- Language:
- English
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Master-slave micromanipulator apparatus
Master-slave micromanipulator apparatus
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micromanipulator
method
based
precision
x-y
stages
stacked
attached
arms
projecting
stage
set
axis
gimbals
rod
provides
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rotation
dual-planar
apparatus
six
degrees
freedom
precise
microns
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motors
encoders
controls
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robotics
remotized
incorporating
bellows
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computer
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master
slave
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forces
interaction
environment
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motor
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precision linear
position information
six degrees
computer control
motor control
provides motion
provides six
x-y stages
arms projecting
axis gimbals
precision x-y
method based
motion precise
x-y stage
computer controller
linear motor
dual-planar apparatus
six degree
master-slave micromanipulator
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