The microrobotic manipulation system with multi-manipulator offers more possibilities for dexterous operations under mesoscale. However, most of the microrobots specialize in single task for specific targets with limited size, type and related environment, which can-not meet the demand of multi-process tasks. In this paper, we present a novel multi-configuration cooperative microrobotic manipulation system where multi-manipulator are guided by a rail. With the help of the circular rail and hybrid actuation, it can realize the arbitrary change of end-effector posture without sweeping out of field of view and achieve multiscale cooperation with positioning resolution around $0.20\mu \mathrm{m}$ . Through combining with the leader-follower and artificial potential field strategies, the system can switch three different configurations: single-ended, double-ended and triple-ended, which adapt to different processes of one task and achieve the high integration of tasks. Experimental results indicated that compared with traditional single-manipulator or multi-manipulator microrobotic manipulation system, our system can not only achieve high-precision translation and self-rotation for pose change, but also grasp a wide size range of micro-targets between $70\mu\mathrm{m}$ and $1000\mu\mathrm{m}$ , and release high viscosity micro-targets effectively.

Rail-Guided Robotic System for Multi-Configuration Cooperative Micromanipulation Based on Formation Control

Cell surgery is becoming an emerging technology in various biomedical applications. Adjusting the pose of the target cell properly for surgical observation and operations is critical to the success of cell surgery. Unfortunately, cell pose adjustments are usually operated manually, which suffers low operation accuracy and efficiency. In this paper, an automatic cell pose adjustment approach is proposed via the cooperation manipulation of multiple flexible optical manipulators, on the base of a holographic optical tweezers cell manipulation system. A novel geometric model is first established to confine the optical manipulator to keep grasping with the specific position of the target cell by using the concept of flexible manipulator in robotics. Then, a cooperation manipulation algorithm integrated with a unified potential field based controller are design to coordinate multiple flexible optical manipulators to adjust the pose of the target cell to the desired state. Simulation and experiment are performed to demonstrate the effectiveness of the proposed approach.

Manipulation the Pose of Single Cell by Cooperation of Multiple Optical Manipulators

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Manipulation the Pose of Single Cell by Cooperation of Multiple Optical Manipulators

Manipulation the Pose of Single Cell by Cooperation of Multiple Optical Manipulators