Master-slave micromanipulator apparatus
Abstract
An apparatus is disclosed 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. 12 figs.
- Inventors:
- Issue Date:
- Research Org.:
- Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
- Sponsoring Org.:
- USDOE, Washington, DC (United States)
- OSTI Identifier:
- 678594
- Patent Number(s):
- 5943914
- Application Number:
- PAN: 8-827,144
- Assignee:
- Sandia Corp., Albuquerque, NM (United States)
- DOE Contract Number:
- AC04-94AL85000
- Resource Type:
- Patent
- Resource Relation:
- Other Information: PBD: 31 Aug 1999
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; DEGREES OF FREEDOM; ROBOTS; DESIGN; COMPUTERIZED CONTROL SYSTEMS; MANIPULATORS
Citation Formats
Morimoto, A K, Kozlowski, D M, Charles, S T, and Spalding, J A. Master-slave micromanipulator apparatus. United States: N. p., 1999.
Web.
Morimoto, A K, Kozlowski, D M, Charles, S T, & Spalding, J A. Master-slave micromanipulator apparatus. United States.
Morimoto, A K, Kozlowski, D M, Charles, S T, and Spalding, J A. Tue .
"Master-slave micromanipulator apparatus". United States.
@article{osti_678594,
title = {Master-slave micromanipulator apparatus},
author = {Morimoto, A K and Kozlowski, D M and Charles, S T and Spalding, J A},
abstractNote = {An apparatus is disclosed 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. 12 figs.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Aug 31 00:00:00 EDT 1999},
month = {Tue Aug 31 00:00:00 EDT 1999}
}