Design of high-frequency and micro-amplitude vibration based manipulator for microscopical dissection

A high-frequency and micro-amplitude vibration based manipulator for microscopical dissection is proposed, in which the 3-RUU parallel mechanism having three pure translational degrees is adopted as the micro-motion mechanism, and a PZT unit generating high-frequency and micro-amplitude vibration is fixed on movable platform of the micro-motion mechanism. Moving along with the large motion of movable platform and synchronously actuated by the high-frequency and micro-amplitude vibration of the PZT unit, the operational needle can perform the micro-dissection tasks. The dimensional model of the 3-RUU micro-motion mechanism is established, the performance atlas describing the relationships between the dimensional parameter combinations and mechanism performances are protracted, and the kinematic parameters of micro-motion mechanism are determined by means of these performance atlas. Using the finite element method, the static and dynamic characteristics of the micro-motion mechanism are analyzed, and the structural parameters of the micro-motion mechanism as well as the driving unit are designed ulteriorly. According to the obtained kinematic and structural parameters, a micro-dissection manipulator prototype is fabricated, which can be used as a basic module in a microscopical dissection operational experiment system.