Research On The Macro Moving System Of Chromosome Incision Equipment

The development of modern biological science and technology depends on the performance of instrument and equipment which decides the research level of biotechnology. The technology level of chromosome incision equipment restricts the application of chromosome micro dissection and micro cloning technology. After the overview of chromosome incision equipment, parallel mechanism, macro/micro operation and so on, the mechanism about the new type of chromosome incision equipment macro moving system 6-PPPS orthogonal parallel mechanism is studied. The mechanism is presented based on the macro-micro dual-drive thinking and the features of parallel mechanism such as high precision, high precision, and high speed. Main contents are summarized as follows:1. After the geometry constraint conditions analysis of 6-PPPS macro moving system, the direction-cosine matrix can be constructed by the motion parameter of 18 mechanism moving pair, which used in the research of forward and inverse displacement analysis. The judging method is presented for the unique forward solution which depends on the constraint of real sphere-hinge. Based on the forward and inverse displacement analysis, the forward and inverse velocity and acceleration are studied. The infection coefficients such as fist order and second order infection coefficient are obtained.2. The evaluation index of orientation space is discussed. According to 6-PPPS macro moving system, the concept and expressions of driving orientation parameter are proposed by the driving difference value. Comparison of Euler orientation space and driving orientation space are studied, which provide a foundation for the mechanism design parameter properly given and trajectory planning.3. The workspace of 6-PPPS macro moving system dynamics is studied. Based on the method of non dimensional analysis, the mathematical models were established, reflecting the relation of mechanism dimension and workspace's location or volume. Based on the non dimensional design method about mechanism workspace, the method for design mechanism dimension is discussed if knowing the fixed value or the range of orientation.4. The inverse problem of 6-PPPS macro moving system dynamics is studied. The wholly dynamic model is established by using driving as generalized coordinates as well as the translation dynamic model. The final symbolic solution is deduced based on the symbolic solution of position, first-order and second-order influence coefficient. The two models can be verified each other. The translation dynamic model is efficient to real time control.5. The error modeling and accuracy analysis of 6-PPPS macro moving system is studied. Based on the forward and inverse displacement analysis, two accuracy models were established. By contrast, the two models have the same result. When the precision of calculation is considered, the accuracy model should be chose or combined use according to different situations. Accuracy distribution characteristic is analyzed, and accuracy compensation method is given.6. The trajectory planning of 6-PPPS macro moving system is studied. After the motion characteristic analysis of a 6-PPPS mechanism, the methods of path planning and realizing motion characteristic are given in translation trajectory planning. Based on the driving orientation space, orientation trajectory planning is presented. The boundary conditions of joint trajectory planning are discussed to implement the orientation path. Trajectory planning under the condition of velocity constraint has been discussed. After the analysis of trajectory planning of 6-PPPS mechanism with velocity constraint, a new method of angular velocity Jacobian matrix is obtained based on the transforms of different velocity. Mission planning is given for the macro moving system of chromosome incision equipment.The research results have important scientific meaning and practical value to design and control of chromosome incision equipment.