A universal microscope manipulator

Building a Universal Planar Manipulator

Distributed manipulation devices make use of a large number of actuators, organized in array fashion, to manipulate a small number of parts. Inspired by minimalism we look at a complementary question: can a device with few degrees of actuation freedom be used to exibly manipulate a large number of parts? In previous publications we have shown that a single horizontally-vibrating plate is just s...

A Flat Rigid Plate is a Universal Planar Manipulator

Dan Reznik John Canny EECS Dept., UC-Berkeley, CA 94720-1776 USA Abstract We consider the problem of parallel part manipulation, i.e., the simultaneous position and orientation control of one or more parts in a bounded region of the plane. We propose a novel, minimalist device, based on a single horizontallyvibrating at plate. We show that a closed rigid motion of the plate, involving its 3 dof...

Two-Dimensional Fine Particle Positioning Under Optical Microscope Using a Piezoresistive Cantilever as a Manipulator

In this paper, a fine particle manipulation system using a piezoresistive microcantilever, which is normally utilized in Atomic Force Microscopy, as the manipulator and force sensor, and a top-view Optical Microscope (OM) as the vision sensor is proposed. Modeling and control of the interaction forces among the manipulator, particle and surface have been realized for moving particles with sizes...

Mani and shapur a universal faith for e universal kingdom

On a Moving Base Robotic Manipulator Dynamics

There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...