A Study on 6-Degree-of-Freedom Parallel Micromanipulator Using ICPF Actuators

ICPF作动器是一种新型的高分子凝胶膜作动器，其优点是在潮湿条件下通过低电压输入产生大的运动。有望应用于显微操作、体内手术等领域。本研究的目的是开发具有并联结构的微运动机构作为ICPF执行器的应用。研究结果如下：1。ICPF作动器粘弹性及非线性特性辨识与建模[j]。改进ICPF作动器计算机模型，提高运动预测精度三自由度机构的优化设计、制造与改进六自由度机构的优化设计、制造与改进动态干扰与传输特性建模与分析。冗余机构的分析与控制基于立体图像的远程微操作系统的构建通过学习控制提高可操作性。微操作实验评价评价结果如下：1.3自由度机械手，位移为2mm，实用频率范围可达13 Hz。它很好地遵循了高速运动指令，尽管静止状态超过3秒是困难的。所研制的装置适用于动态微操作。2.6 dof机械手平移位移和旋转位移分别小至0.4 mm和2度。实际频率范围可达3hz。改进ICPF材料是必要的。

An ICPF actuator, a new highpolymer gel membrane actuator has advantages that large motion is generated by low voltage input in wet condition. Application to micromanipulation, in-vivo surgery, etc. are expected.The objective of this research was development of micromotion mechanisms having parallel structures as application of ICPF actuators. The following results were attained.1. Identification and modeling of viscoelastic and nonlinear properties of ICPF actuator2. Improvement of the computer model of ICPF actuator to improve accuracy of motion prediction3. Optimal design, fabrication and improvement of a mechanism with 3 degrees of freedom4. Optimal design, fabrication and improvement of a mechanism with 6 degrees of freedom5. Modeling and analysis of dynamic interference and transmission characteristics6. Analysis and control of redundant mechanisms7. Construction of a tele-micromanipulation system using stereoscopic image8. Manipulability improvement by learning control9. Experimental evaluation of micromanipulationThe result of evaluation was as follows.1.3-DOF manipulatorThe displacement was 2 mm, and the practical frequency range was up to 13 Hz. It followed well to high-speed motion commands, although stationary condition longer than 3 seconds were difficult. The developed device is appropriate for dynamic micromanipulation.2.6-DOF manipulatorThe translational and rotational displacements were as small as 0.4 mm and 2 degrees, respectively.The practical frequency range was up to 3 Hz. Improvement of the ICPF material is necessary.