Loading...

Design, Manufacturing and Control of Cell Micromanipulation System

Jafarimoghaddam, Amir | 2017

531 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49780 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Nejat, Hossein; Meghdari, Ali
  7. Abstract:
  8. The project aims to design and build a device that is capable of manipulation and control of micro-scale objects in dry and fluid medium. Among all the micro-manipulation methods, the use of magnetic fields has many applications. Because it has the ability to work without direct contact and also within a specified range for living tissue, is safe. To achieve this goal,manipulation systems ever made, were studied. Then, by presenting a conceptual design and the use of appropriate dynamic models for describing the behavior of micro-robot, the system performance was simulated. After this stage, The detailed design of the closed-loop system which must controls the position of the micro-robot using electromagnetic actuation is performed. Different steps of the detailed design process includes the electromagnetic design,mechanical design, electronic design and how to provide feedback control using image processing. Then on the basis of the conducted design, the construction, parts purchase and assembly was done.Finally, the manipulation device of ferromagnetic micro-objects launched and the strength of the magnetic field generated in the micro-robot workplace was tested in practice. Also the experiments of micro-robot position control were performed in one dimension and it was observed that using the device built, the micro-robot position in the view field of imaging camera that almost covers a range of 5 mm, can be controlled and in point of interest can be stabilized
  9. Keywords:
  10. Design ; Fabrication ; Modeling ; Control ; Micromanipulator ; Manipulation System ; Magnetic Micro-robot

 Digital Object List

 Bookmark

No TOC