Microoperation characteristic evaluation of a human scale tele-operating system

In the medical field and in biotechnology applications, a new type of human scale teleoperating system that can carry out three-dimensional high-speed micromanipulation is urgently required. 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. So we propose a macro/micro mechanism for the system. Firstly, we design a precision parallel micromechanism with 6-DOF (10 /spl mu/m Moving Range, 10 nm Resolving Power), and compose the macro/micro mechanism. Then, we also did the complex control for the macro/micro mechanism. The experimental results indicate that the proposed Macro/micro mechanism can be controlled by teleoperation, and it is very useful for human scale microopeeration system.