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Design and Analysis of a Cell Injection Manipulator Made of a Piezo-Driven Double-Deck Stewart Platform

Zahiri, Behnam | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43829 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Ahmadiyan, Mohammad Taghi
  7. Abstract:
  8. With respect to the introduction of bio-material into cells (transfection) , microinjection is a highly efficient technique amongst existing methodologies. In cell injection, a manipulator injects the needle into a cellwhich is hold by a pipet mechanism. The moving range for the needle in this operation is of centimeter order and the resolution for the needle tip should be less than the cell’s diameter. In this thesis a Stewart system is used as for the manipulator. Stewart systems are used in flight simulators systems for decades, as mechanisms which are capable of providing multi-axis movements. In high accuracy positioning and multi-axis applications Stewart systems are highly reliable. One characteristic of Stewart systems is that their workspace volume and moving ranges are directly related to the stroke which the actuators used in its legs can provide. Also most micro actuators with high stroke have the limit of low resolution which can affect the total resolution of the platform. To design a 6DOF Stewart platform which can provide both moving ranges and resolution required in cell injection procedure, a dual stage Stewart platform is considered in this thesis. One stage moves the needle from its initial position and places the needle tip just close to the cell held by the pipet and is also designed as to provide the major workspace. The second stage which is placed blow the first stage is designed to provide high resolution and to complete the injection process. To obtain high accuracy Stewart platform in this stage uses piezo stacks as actuators and also flexure joints in its legs. Designed dual stage system has the moving ranges as (7.6 mm, 8.2mm, 7.6mm), and can provide the resolution up to1μm
  9. Keywords:
  10. Piezoelectric ; Stewart Platform ; Cell Injeetion ; Double-Stage Stewart Platform

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