Analysis and Design of A Novel Micro-Dissection Manipulator Based on Ultrasonic Vibration

A novel micro-dissection manipulator based on ultrasonic vibration is presented in this paper, which uses the 3-RUU pure translational parallel mechanism as its main mechanism, here R, U respectively stand for revolute and universal joint. A vibration unit is fixed on the movable platform of the mechanism and a needle connected to the unit can perform task of micro-dissection for micro living organism by means of piercing as it moves with the platform. Kinematics of the micromanipulator is analyzed based on pseudo rigidity body model (PRBM) method, its kinematic dimensions are identified from performance atlas utilizing the method of dimension model (MODM). Moreover, flexure hinges are designed to create the flexure-based compliance mechanism. Static and dynamic performances of the solid model are analyzed with finite element method. The simulation result illustrates that motion of solid model is coincident to that of PRBM basically, and after a proper frequency of the vibration unit is chosen according to natural frequencies of the solid model the micromanipulator can avoid resonance effectively and implement accurate motion.