In-situ repetitive calibration of microscopic probes maneuvered by holonomic inchworm robot for flexible microscopic operations

Fuchiwaki, Ohmi; Yamagiwa, T.; Omura, S.; Hara, Y.

doi:10.1109/iros.2015.7353561

Cited by 4 publications

(5 citation statements)

References 10 publications

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“…To improve the repeatability of positioning, we reduced the slippage of the legs by improving the input signals of the XYθ and Z ‐axis actuators. To control a mobile robot more precisely and accurately, we have developed precise multiaxial displacement sensors, [ 60 ] motion compensation, [ 61 ] and closed‐loop control. To expand the versatility of manipulation, we plan to develop various compact manipulators for multiaxial, multiscale, and heterogeneous operations in the electronic, MEMS, biomedical, soft robot, and microassembly fields.…”

Section: Discussionmentioning

confidence: 99%

“…Compensation for the axial run-out error will be the subject of future studies. [61] We conducted an orbital motion experiment to demonstrate that the robot accomplished flexible and smooth holonomic motion. Figure 3F shows sequential photographs captured during one revolution of the orbital motions with rotational radii of 58 and 110 mm, respectively.…”

Section: Continuous Walking Accuracymentioning

confidence: 99%

“…Holonomic mobile robots driven by resonance mechanisms [55][56][57] and based on inchworm principles [58][59][60][61] have also been devised. Stick-slip holonomic mobile robots have been reported as well, [38,41] influenced by the kinetic friction between legs and surfaces.…”

Section: Introductionmentioning

confidence: 99%

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Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Suzuki,

Iida,

Tsukui

et al. 2024

Advanced Intelligent Systems

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Holonomic mobile micromanipulators driven by piezoelectric actuators offer precision and compact design. However, attaining both high speed and positioning repeatability with sufficient load capacity poses challenges, given that lightweight robots are susceptible to nonuniform driving surfaces and external forces. A holonomic beetle (HB) is proposed to realize a wide range, compact size, precise holonomic motion, automatic micromanipulation, and high‐speed movement simultaneously. Inspired by the biological makeup of a Rhinoceros Beetle, a length, weight, and load capacity of 8 cm, 74 g, and of 2000 g, respectively, are used. The HB is a two‐legged robot with a pseudoalternating tripod gait locomotion principle, with five piezoelectric actuators for XYθ displacement and switching of the contact leg. It achieves maximum walking velocities of 11.6 mm s−1 for translational motion and 19.3 deg s−1 for rotation, with a displacement resolution of 12 nm. Notably, under open‐loop control, the HB demonstrates high repeatability with a coefficient of variation of 0.3%. It exhibits the capability to climb 30°‐inclined surfaces, traverse flat surfaces with 0.1 mm bumps, and navigate 30 mm pits. Furthermore, the HB showcases practical automatic micromanipulation through visual servo control and machine learning, presenting potential applications in biomedical and microassembly fields.

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Section: Discussionmentioning

confidence: 99%

Section: Continuous Walking Accuracymentioning

confidence: 99%

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Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Suzuki,

Iida,

Tsukui

et al. 2024

Advanced Intelligent Systems

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“…Various methods have been developed to measure displacement precisely [ 29 ]. One of the most commonly used methods is pattern matching using camera images; however, this method has practical problems concerning a tradeoff among the measuring resolution, range, and cycle [ 30 , 31 ]. Strain gauges [ 32 ], lasers [ 33 ], and encoders [ 34 , 35 ] have also been used.…”

Section: Introductionmentioning

confidence: 99%

Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders

et al. 2023

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In this study, an XYθ position sensor is designed/proposed to realize the precise control of the XYθ position of a holonomic inchworm robot in the centimeter to submicrometer range using four optical encoders. The sensor was designed to be sufficiently compact for mounting on a centimeter-sized robot for closed-loop control. To simultaneously measure the XYθ displacements, we designed an integrated two-degrees-of-freedom scale for the four encoders. We also derived a calibration equation to decrease the crosstalk errors among the XYθ axes. To investigate the feasibility of this approach, we placed the scale as a measurement target for a holonomic robot. We demonstrated closed-loop sequence control of a star-shaped trajectory for multiple-step motion in the centimeter to micrometer range. We also demonstrated simultaneous three-axis proportional–integral–derivative control for one-step motion in the micrometer to sub-micrometer range. The close-up trajectories were examined to determine the detailed behavior with sub-micrometer and sub-millidegree resolutions in the MHz measurement cycle. This study is an important step toward wide-range flexible control of precise holonomic robots for various applications in which multiple tools work precisely within the limited space of instruments and microscopes.

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“…The second problem is the challenge of three-axial rotation; it is difficult to control three posture angles of a small object by fixing its central point because manipulators become larger in size and heavy if three rotational stages are added (Hatamura et al 1995). With mobile precise robots for positioning the micromanipulators, manipulation becomes relatively compact and flexible (Fatikow et al 2000;Fuchiwaki et al 2012Fuchiwaki et al , 2014, although these mobile robots should be rotated precisely around the central point of the manipulated microscopic object (Fuchiwaki et al 2015). The third problem is associated with the limitation of the shape of the object; the shape should be cubic because it is convenient to fix two posture angles of a cube around two horizontal axes by putting them on their base plate (Chen et al 2010;Zhang et al 2010;Tamadazte et al 2011;Boudaoud 2012).…”

Section: Introductionmentioning

confidence: 99%

Multi-axial non-contact in situ micromanipulation by steady streaming around two oscillating cylinders on holonomic miniature robots

Fuchiwaki

Tanaka

Notsu

et al. 2018

Microfluid Nanofluid

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In the field of micromanipulation, an in situ three-axial rotation of a microscale object remains difficult to realize, with rotational resolution and repeatability remaining low. In this paper, we describe the fundamental principle, properties, and experimental results of multi-axial non-contact in situ micromanipulation of an egg cell driven by steady streaming generated around an oscillating cylinder. A continuously oscillating cylinder generates the steady streaming that draws an egg cell toward the cylinder. If it is trapped by an eddy near the tip of the cylinder, it continuously rotates around the vertical axis at a fixed point. If it is trapped by a swirl flow generated around the side of the cylinder, it rotates around the horizontal axis. We define Reynolds number, R e , as ar c ω/ν, where a is half of the oscillation's amplitude, r c is the cylinder's radius, ω is the oscillation's angular frequency, and ν is the kinematic viscosity. We demonstrate that the conditions of the vertical and horizontal rotations are determined by two dimensionless numbers: R e and a/r c . In our experiments, we obtained rotational resolutions of 0.05° and 0.11° and maximal angular velocities of 34.8°/s and 188°/s for the vertical and horizontal rotations, respectively. We also developed unique micromanipulation methods using two oscillating pipettes attached to holonomic miniature robots. We successfully manipulated five degrees of freedom (DoF) of the cell (three posture angles and two translational displacements along the X and Y axes) with the steady streaming. The proposed method enables a multi-axial, non-contact, in situ, and compact micromanipulation independent of the electrical, optical, magnetic, shape, and stiffness properties of the objects; moreover, it can be applied in microfluidics, biomedical, and heterogeneous microassembly applications.

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In-situ repetitive calibration of microscopic probes maneuvered by holonomic inchworm robot for flexible microscopic operations

Cited by 4 publications

References 10 publications

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders

Multi-axial non-contact in situ micromanipulation by steady streaming around two oscillating cylinders on holonomic miniature robots

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