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Title: Master-slave micromanipulator method

Abstract

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.

Inventors:
 [1];  [1];  [2];  [3]
  1. (Albuquerque, NM)
  2. (Germantown, TN)
  3. (Springfield, KY)
Issue Date:
Research Org.:
SANDIA CORP
OSTI Identifier:
872744
Patent Number(s):
6000297
Assignee:
Sandia Corporation (Albuquerque, NM) SNL
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
master-slave; micromanipulator; method; based; precision; x-y; stages; stacked; attached; arms; projecting; stage; set; axis; gimbals; rod; provides; motion; rotation; dual-planar; apparatus; six; degrees; freedom; precise; microns; linear; motors; encoders; controls; provide; robotics; remotized; 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; 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; /74/414/

Citation Formats

Morimoto, Alan K., Kozlowski, David M., Charles, Steven T., and Spalding, James A. Master-slave micromanipulator method. United States: N. p., 1999. Web.
Morimoto, Alan K., Kozlowski, David M., Charles, Steven T., & Spalding, James A. Master-slave micromanipulator method. United States.
Morimoto, Alan K., Kozlowski, David M., Charles, Steven T., and Spalding, James A. Fri . "Master-slave micromanipulator method". United States. https://www.osti.gov/servlets/purl/872744.
@article{osti_872744,
title = {Master-slave micromanipulator method},
author = {Morimoto, Alan K. and Kozlowski, David M. and Charles, Steven T. and Spalding, James A.},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1999},
month = {1}
}

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