Development of a macro/micro mechanism for human scale teleoperating system

In the medical field and in biotechnology application, a new type of human scale teleoperating system that can carry out three-dimensional high-speed micromanipulation has urgently been demanded. It is our purpose to develop a new type of human scale operating system for microoperation that can manipulate a microobject. In this paper, we deal with a human scale teleoperating system. In order to operate microobject in human scale, the working table and micromanipulator with multi DOF are demanded to be developed. The authors describe a macro/micro mechanism for the system. Firstly, they designed a precision parallel micromechanism with 6 DOF (10 /spl mu/m Moving Range, 10nm Resolving Power), and composed the macro/micro mechanism. Then, they also designed the complex control for the macro/micro mechanism. Experimental results indicate that the proposed macro/micro mechanism can be controlled by teleoperation, and that it is very useful for human scale microperation system.