Study On Control Of Positioning, Computer Human Interaction And Microinjection For Micromanipulation System

cromanipulation is the manipulation and treatment of objects with characteristic feature size of um and sub-urn. The instrument, which is necessary for manipulation, is usually called micromanipulation system or manipulation robot. It functions in micrograpping, micromanipulation, microprocessing, microassembling, etc. It is the essential instrument in manipulating micro objects and has been widely used in biology and assembly of MEMS parts. In recent years the study of micromanipulation instrument and technology has become a heated topic in the area of MEMS and robot research.In order to improve the level of automatization and intelligentization in micro manipulation, the compose and structure of micromanipulation system are provided and a set of micromanipulation system is constructed, which includes microvision subsystem, micropositioning subsystem, microinjector and micrograpper. 3D control of micropositioning, the environment for human-computer interaction based on the micro stereo image displaying, and microinjection are three focuses of this dissertation.The imaging models of CMO micro stereoscope and G micro stereoscope used in microvision subsystem are deduced. According to the imaging models, 3D visual servoing model based on image for micropositioning is set up. The technology of tracking and matching on the feature of image, which are relevant in visual servoing, is studied. Two arithmetic for avoiding obstacles, rolling/surrounding and curved tracking based on the depth first search, are further discussed. The experiments show that the visual servoing model based on image, which is set up in this dissertation, can accomplish precise positioning with point-point error less than 3um. Rolling and surrounding and curved tracking based on the depth first search can automatically show the path for avoiding obstacles with error of positioning between 20-40?m.Physiological and psychological basis for human-computer interaction and stereovision are expatiated. The control model of human-computer interaction for real-time micro manipulation is set up. Stability, sensitivity and step response of human-computer interaction are analyzed. Soft doubling frequency with two buffers based on the method of time-sharing for stereo visual display is put forward and by means of this technology flickering in time-sharing display is solved. Color micro stereovision subsystem is designed and established so that manipulator can real-time monitor the stereo Images of micromanipulation process through computer screen. The unit of interactive manipulation, which is used to control micromanipulations, is designed and accomplished. Under this unimmersive interactive environment for micromanipulation, operator with crystal glasses can observe the stereo image of micromanipulation from the computer screen and operate microactuator by controlling joysticks. The real-time interactive environment for micromanipulation is proved to be reliable and steady, and can release the operator from eyepieces, reduce the technicalrequirement towards manual operation, increase the efficiency of micromanipulation.The discretizated formula for the flow in cone-shaped microchannel is constructed and the influence of scaling effects to microflow is studied too. Experiments are done to study the characters of pressured driven flow in cone-shaped microchannel, and provide experimental relationship between pressure and flow in cone-shaped microchannel which diameter is within4-15m. Experiment results show that flow calculated by discretizated formula for the flow in cone-shaped microchannel is more precise. According to the requirement of genetic microinjection, the pressure driven microinjector is developed. The experiments of microinjection are performed with this microinjector and the relationship curve among injected volume and pressure/time in the cone-shaped microchannel is shown.