Japan STA Program: Structural Design Optimization of an Ultra Micro Manipulator

尼尔森9724755该奖项支持詹姆斯·尼尔森博士在日本筑波机械工程实验室获得为期9个月的日本科学技术厅博士后奖学金。尼尔森博士将与机器人系的研究科学家谷川玉雄博士合作开展一项名为“超微机械手的结构设计优化”的研究项目。这项拟议的研究旨在优化超微机械手的设计和功能，超微机械手是一种具有操纵生物细胞、微机械部件和其他小型物体所需的精度的设备。具体地说，分析的重点将是开发一种用于驱动机器人微手手指的“平行”机构的结构。对于这种应用来说，选择使用六条平行腿来执行指定活动的In并联机械手是很自然的，因为该设计具有高度的刚性和精确度，并且手指所需的运动范围相对有限。该项目的主要目标将是优化生物技术、微机械和微外科技术中使用的结构安排。***

Nielsen 9724755 This award supports a nine month Science and Technology Agency of Japan (STA) Postdoctoral Fellowship for Dr. James Nielsen at the Mechanical Engineering Laboratory, Tsukuba, Japan. Dr. Nielsen will work with Dr. Tamio Tanikawa, research scientist in the Department of Robotics, on a research project entitled, "Structural Design Optimization of an Ultra Micro Manipulator." The proposed research seeks to optimize both the design and function of an ultra-micro manipulator, a device which has the precision necessary to manipulate biological cells, micro-machined parts, and other small-scale objects. Specifically, the analysis will focus on developing the structure of an "in-parallel" mechanism used to actuate the fingers of a robotic micro hand. The choice of an in parallel manipulator, which uses six parallel legs to perform prescribed activities, is natural for this application in that the design possesses a high degree of both stiffness and precision and the required range of motion needed for the fingers is comparatively limited. The primary goal of the project will be to optimize the structural arrangement for use in biotechnological, micro machine, and micro-surgery techniques. ***