Design of Incorporated Macro-micro Robots for Macro and Micro Operations

Robots with cooperated regional macro-structures and local micro-structures are implemented in cell injection systems, production and control of micro-chips as well as other micro and nano technological operations. A structure for hybrid macro-micro robot with closed kinematic chains with piezo-actuator links is proposed. An approach for the synthesis of linkage manipulating mechanisms with two DoF is developed applying the method of Infinitesimally Close Positions. This approach allows for the synthesis of mechanisms that perform rectilinear trajectory within a specified section. The rectilinear trajectory may be obtained by controlling the actuators, but in the presence of accelerations which would decrease the precision of the trajectory.