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Research Papers

Analysis and Experiments of a Haptic Telemanipulation Environment for a Microrobot Driven by Centripetal Forces

[+] Author and Article Information
Kostas Vlachos

Department of Mechanical Engineering, National Technical University of Athens, Heroon Polytechniou 9, 15780 Athens, Greecekostaswl@central.ntua.gr

Evangelos Papadopoulos

Department of Mechanical Engineering, National Technical University of Athens, Heroon Polytechniou 9, 15780 Athens, Greeceegpapado@central.ntua.gr

J. Comput. Inf. Sci. Eng 8(4), 041007 (Nov 07, 2008) (9 pages) doi:10.1115/1.2988385 History: Received September 30, 2007; Revised June 30, 2008; Published November 07, 2008

This paper presents the analytical and experimental results on a new haptic telemanipulation environment for microrobot control. The proposed environment is comprised of a 5DOF force feedback mechanism, acting as the master, and a 2DOF microrobot, acting as the slave. The fact that the slave microrobot is driven by two centripetal force vibration micromotors makes the presented telemanipulation environment exceptional and challenging. The unique characteristics and challenges that arise during the haptic micromanipulation of the specific device are described and analyzed. The developed solutions are presented and discussed. Several experiments show that, regardless of the disparity between the master and slave, the proposed environment facilitates functional and simple microrobot control during micromanipulation operations.

Copyright © 2008 by American Society of Mechanical Engineers
Topics: Haptics , Force
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References

Figures

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Figure 1

The haptic master (a) and its force sensor-equipped spherical joint (b)

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Figure 2

The slave microrobotic platform (a) and the microworld coordination system (b)

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Figure 3

The MaIM input scheme

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Figure 4

The macroscopic control phase force loop

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Figure 5

The microscopic control phase force loop

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Figure 6

The model of the haptic telemanipulation system including the user hand during the MaCP force loop (no interaction with the microenvironment)

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Figure 7

The simulation result

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Figure 15

The smooth (a) and impact (b) forces applied to the operator with and without filtering and scaling

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Figure 14

The microrobot path during a MiIM experiment (actuators one at a time)

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Figure 13

Microrobot motion across the microscope field of view during a MiIM experiment (both actuators at a low speed)

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Figure 12

The microrobot path during a MRIM experiment

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Figure 11

The microrobot path during a MaIM experiment in a curved line

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Figure 10

The microrobot path during a MaIM experiment in a straight line

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Figure 9

Schematic view of the microrobot top with the white marks

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Figure 8

The experimental setup

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