机械手英文文献机器翻译文档格式.docx

机械手英文文献机器翻译文档格式.docx

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ThisisaapplicationofApplicationSer.No.10/799,595,filedonMar.15,2004nowU.S.Pat.No.7,081,700.FIELDOFTHEINVENTIONThepresentinventionrelatestoamanipulatorsuchasaminutecomponentassemblyapparatuswhichassemblesaminuteobjectsuchasamicromachinecomponentorunitbyusingamagnifyingobservationdevicesuchasanopticalmicroscope,electronmicroscope,orscanningtunnelingmicroscope,oracompactmanipulatorapparatuswhichperformsdiagnosis,medicaltreatment,research,biologicalproduction,orthelikebyphysicallymanipulating,forexample,minutetissues,cells,orgenesofalivingbodyandaminuteobjectmanipulatingapparatususingthemanipulator.BACKGROUNDOFTHEINVENTIONTherehavebeenknownatechniqueofcontrollingthepostureofamanipulatingmember（end-effector）byrotatingageneralsizearmusingageneralsizebearingandatechniqueofperforminganecessaryprocessonaminuteworkinaworkingdevicebyrotatinganarmortoolalonganarcuatedguide（see,forexample,JapanesePatentLaid-OpenNo.7-256575）.Inaconventionalapparatuslikethosedescribedabove,ifthedistalendofanend-effectorisnotlocatedontherotationaxisofabearingorarcuatedguide,thedistalendoftheend-effectormovesoutofthevisualfieldordepthoffocusofamicroscopeduetoposturecontroloperation.Thismakesitnecessarytopositionthemicroscopeandthedistalendoftheend-effectoragain.Asdescribedabove,inamanipulatorwhichmanipulatesaminuteobject,whenthepostureoftheend-effectoratthedistalendiscontrolled,themanipulationtargetobjectoftenmovesoutofthevisualfieldofthemicroscope.Inaconventionalmanipulatorhavingthreedegreesofrotationalfreedom,inparticular,sincetherotationaxescorrespondingtotherespectivedegreesoffreedomdonotcoincidewitheachotheranddonotcrossatonepoint,thedistalendoftheend-effectortendstomoveoutofthevisualfieldordepthoffocusofthemicroscopeduetoposturecontroloperation.Insuchacase,themicroscopeandthedistalendoftheend-effectormustbepositionedagain.Thisoperationrequiresalongperiodoftime.SUMMARYOFTHEINVENTIONItisanobjectofthepresentinventiontoprovideamanipulatorsuchasacompactmanipulatorapparatuswhichsolvestheaboveproblemsandmanipulatesaminutetargetobject,andaminuteobjectmanipulatingapparatusorthelikeusingthemanipulator.Inordertoachievetheaboveobject,accordingtothepresentinvention,thereisprovidedamanipulatorcomprising:

amanipulationtargetobjectmanipulatingmemberbeingdrivenandcontrolledbyapluralityoffreerotationaxes;

allthepluralityoffreerotationaxescrossingatonepoint;

and,amanipulationdistalendportionofthemanipulatingmemberbeingplacedneartheintersection.Accordingtothisarrangement,themanipulatorhasamechanisminwhichapluralityof（typicallythree）freerotationaxescrossatonepoint,andthedistalendportionofamanipulatingmember（end-effector）whichmanipulatesamanipulationtargetobjectisplacedneartheintersection.Withthisstructure,evenif,forexample,thepostureoftheend-effectorischanged,itsdistalendportioncanbemadetoremainwithinthevisualfieldofamicroscope.Thefollowingembodimentcanbeprovidedonthebasisoftheabovebasicarrangement.Accordingtoanembodimentofthepresentinvention,themanipulatingmemberisintegrallymountedonasphericalshellmovablemember,themanipulationdistalendportionofthemanipulatingmemberisplacednearthecenterofthesphericalshellmovable

member,thesphericalshellmovablememberisincontactwithavibrationmemberwhichcanvibrate,androtationofthesphericalshellmovablememberaroundthecenterthereofiscontrolledbycontrollingvibrationofthevibrationmember,therebycontrollingapostureofthemanipulatingmember.Whentherotationofthemovablememberintheformofasphericalshelliscontrolledbycontrollingthevibrationofthevibrationmember,thedistalendportionoftheend-effectorismadetoremainwithinthevisualfieldofthemicroscopeevenifthepostureoftheend-effectorischanged.Accordingtoanotherembodimentofthepresentinvention,themanipulatorfurthercomprises:

firstrotatingmeansforrotatingafirstrotatingshaftonwhichafirstarmismounted;

secondrotatingmeansforrotatingasecondrotatingshaftwhichismountedonthefirstarmandonwhichasecondarmismounted;

andthirdrotatingmeansforrotatingathirdrotatingshaftwhichismountedonthesecondarmandonwhichathirdarmismounted,whereinthemanipulatingmemberismountedonthethirdrotatingshaft,andthefirst,second,andthirdrotatingshaftspassthroughamanipulationdistalendportionofthemanipulatingmember.Inaddition,inordertoachievetheaboveobject,accordingtothepresentinvention,thereisprovidedaminuteobjectmanipulatingapparatuscomprising:

amanipulatorcomprisingamanipulationtargetobjectmanipulatingmemberbeingdrivenandcontrolledbyapluralityoffreerotationaxes,allthepluralityoffreerotationaxescrossingatonepoint,andamanipulationdistalendportionofthemanipulatingmemberbeingplacedneartheintersection;

amagnifyingobservationdeviceformagnifyingobservationofthemanipulationtargetobjectandthemanipulationdistalendportionofthemanipulatingmember;

andaremotecontrollerforremotelycontrollingthemanipulator.Thisapparatusalsomakesthemostoftheadvantagesoftheabovemanipulator.Inaddition,forexample,themanipulatorcanbeplacedontheuppersideofamanipulationtargetobject,andthemagnifyingobservationdevicecanbeplacedonthelowersideofthemanipulationtargetobject.Otherfeaturesandadvantagesofthepresentinventionwillbeapparentfromthefollowingdescriptiontakeninconjunctionwiththeaccompanyingdrawings,inwhichlikereferencecharactersdesignatethesameorsimilarpartsthroughoutthefiguresthereof.DETAILEDDESCRIPTIONOFTHEPREFERREDEMBODIMENTSPreferredembodimentsofthepresent

inventionwillnowbedescribedindetailinaccordancewiththeaccompanyingdrawings.FirstEmbodimentThefirstembodimentofthepresentinventionwillbedescribedfirstwithreferencetoFIGS.1and2Ato2D.Thisembodimentusesamechanisminwhichalltheaxescorrespondingtothreedegreesofrotationalfreedomcrossatonepoint.Inthissystem,thecenterofthedistalendmanipulatingportionofanend-effectorisplacednearthecenterofthesphericalrotatingmemberofavibrationactuatorhavingthreedegreesoffreedomliketheonedisclosedinJapanesePatentLaid-OpenNo.11-220891.Insuchavibrationactuator,rotationaxescanbearbitrarilyset.Sincealltherotationaxespassthroughthecenterofasphericalrotatingmember,asimplesystemwithhighrigiditycanbeformedbyusingthisactuator.Asasensorforfeedingbackthepositionandvelocityofthesphericalrotatingmember,atwo-dimensionalpositionsensorusingadetectionprinciplelikethatdisclosedinJapanesePatentLaid-OpenNo.10-65882issuitablyused.Thissensorirradiatesasphericalsurfacewithlightemittedfromanirradiationsourcebasedontheopticalmousesystemortheliketoformanirradiationpatternconstitutedbyahigh-luminanceregionandarelativelylow-luminanceregioncorrespondingtotheminuteshapeofthesphericalsurface.Movementinformationisthenobtainedbyusingthemovementoftheirradiationpatternbasedontherelativemovementbetweenthesphericalsurfaceandthesensor.FIG.1isaviewwhichismostindicativeofthemainpartofthisembodiment.Referencenumerals20-1,20-2,and

20-3denotethefirst,second,andthirdelasticmembervibrationelementsofamultipledegree-of-freedomvibrationactuator,respectively;

and1-1and1-2,piezoelectricceramicswhichgeneratebendingvibrationsandlongitudinalvibrations,respectively.Eachvibrationelement20isfixed/supportedonaframe（notshown）withanarmportion（see1#x2013;

2#x2032;

inFIG.6）extendingfromanelectrodeplateportionforapiezoelectricceramicintheradialdirection.Thedrivingprincipleandarrangementofthemultipledegree-of-freedomvibrationactuatorwillbedescribedindetaillater.Referencenumeral2denotesamovablememberintheformofasphericalshellwhosesphericalsurfacecomesintocontactwiththevibrationelement20-1.Inthisembodiment,onlyaportionofthemovablemember2isasphericalsurface,whichcomesintocontactwiththevibrationelement20-1.Themechanismofdrivingcontrolwillbedescribedlater.Referencenumeral3denotesamicro-handwhichisintegrallymountedonthemountportionofthelowerportionofthemovablemember2intheformofasphericalshell.Themicro-hand3hasmanipulationfunctionssuchasafunctionofgraspingorreleasingaminuteobjectsuchasacellandafunctionofperformingaprocesssuchasformingaholeinaminuteobjectorcuttingit.Themicro-hand3isplacednearthecenterofthesphericalsurfaceofthemovablemember2.Referencenumeral4denotesavesselinwhichaminuteobjectsuchasacellisstored.Thevessel4ismadeofatransparentmaterialsuchasglass.Aliquidsuchasphysiologicalsalinesolutionisoftencontainedinthevessel4.Referencenumeral5denotesanX-YorX-Y-Zstagewhichcanadjusttherelativepositionbetweenthemicro-hand3andaminuteobjectasamanipulationtargetobjectbyadjustingthepositionofthevessel4onthestage;

and6,amagnifyingobservationdevicesuchasamicroscope,whichmagnifiesimagesofthemanipulationtargetobjectandmicro-hand3t