Master-slave micromanipulator apparatus
Abstract
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.
- Inventors:
-
- Albuquerque, NM
- Germantown, TN
- Springfield, KY
- Issue Date:
- Research Org.:
- Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
- OSTI Identifier:
- 872477
- Patent Number(s):
- 5943914
- Assignee:
- Sandia Corporation (Albuquerque, NM)
- Patent Classifications (CPCs):
-
A - HUMAN NECESSITIES A61 - MEDICAL OR VETERINARY SCIENCE A61B - DIAGNOSIS
Y - NEW / CROSS SECTIONAL TECHNOLOGIES Y10 - TECHNICAL SUBJECTS COVERED BY FORMER USPC Y10T - TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- DOE Contract Number:
- AC04-94AL85000
- Resource Type:
- Patent
- Country of Publication:
- United States
- Language:
- English
- Subject:
- master-slave; micromanipulator; apparatus; based; precision; x-y; stages; stacked; attached; arms; projecting; stage; set; axis; gimbals; rod; provides; motion; rotation; dual-planar; six; degrees; freedom; precise; microns; linear; motors; encoders; controls; provide; robotics; positioned; remote; location; incorporating; bellows; connected; computer; controller; allow; master; slave; position; information; control; forces; interaction; environment; reflected; motor; sense; force; sensed; operator; fed; reduce; required; move; precision linear; position information; six degrees; remote location; computer control; motor control; provides motion; provides six; x-y stages; apparatus based; arms projecting; axis gimbals; manipulator apparatus; precision x-y; motion precise; x-y stage; computer controller; linear motor; dual-planar apparatus; six degree; master-slave micromanipulator; /74/414/901/
Citation Formats
Morimoto, Alan K, Kozlowski, David M, Charles, Steven T, and Spalding, James A. Master-slave micromanipulator apparatus. United States: N. p., 1999.
Web.
Morimoto, Alan K, Kozlowski, David M, Charles, Steven T, & Spalding, James A. Master-slave micromanipulator apparatus. United States.
Morimoto, Alan K, Kozlowski, David M, Charles, Steven T, and Spalding, James A. Fri .
"Master-slave micromanipulator apparatus". United States. https://www.osti.gov/servlets/purl/872477.
@article{osti_872477,
title = {Master-slave micromanipulator apparatus},
author = {Morimoto, Alan K and Kozlowski, David M and Charles, Steven T and Spalding, James A},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Fri Jan 01 00:00:00 EST 1999},
month = {Fri Jan 01 00:00:00 EST 1999}
}