Workspace optimization for multi-scale micromanipulation system

In the recent years, the demand for micro and nano motion devices has increased in many industrial applications such as assembling micro machines, manipulating biological cells, and micro-surgical operations like neurosurgery and ophthalmology. As a result, there is an urgent need to develop micro-nano manipulators capable of performing very small motion with high resolution and sometimes with high speed. However, in micro environment, all kind of objects have different dimensions. Some of them are a few micrometers (μm) such as donor cells, some of them are more than a hundred μm such as egg cells. At this point, only a multi-scalable manipulator can hold very different size micro objects. For multi-scale manipulation, workspace size of the end effector is the key point. In this paper, we aim to find optimum design by checking different orientations of end effector's workspace size through inverse kinematics.