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A Robot for Cell Injection: Modeling, Design and Experimental Validation

A Robot for Cell Injection: Modeling, Design and Experimental Validation

K. Kostadinov, D. Chakarov, A. Shulev, T. Tiankov
Copyright: © 2013 |Volume: 3 |Issue: 3 |Pages: 22
ISSN: 2156-1664|EISSN: 2156-1656|EISBN13: 9781466634138|DOI: 10.4018/ijimr.2013070106
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MLA

Kostadinov, K., et al. "A Robot for Cell Injection: Modeling, Design and Experimental Validation." IJIMR vol.3, no.3 2013: pp.77-98. http://doi.org/10.4018/ijimr.2013070106

APA

Kostadinov, K., Chakarov, D., Shulev, A., & Tiankov, T. (2013). A Robot for Cell Injection: Modeling, Design and Experimental Validation. International Journal of Intelligent Mechatronics and Robotics (IJIMR), 3(3), 77-98. http://doi.org/10.4018/ijimr.2013070106

Chicago

Kostadinov, K., et al. "A Robot for Cell Injection: Modeling, Design and Experimental Validation," International Journal of Intelligent Mechatronics and Robotics (IJIMR) 3, no.3: 77-98. http://doi.org/10.4018/ijimr.2013070106

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Abstract

This work deals with modelling and experimenting of a compliant serial-parallel robot. Using Pseudo-Rigid-Body Modelling (PRBM) of elastic structures, a kinematics and stiffness model of a serial-parallel structure has been built. Several approaches for pre-tensioning of a parallel structure with elastic joints were developed in order to eliminate backlashes and improve the performance of its actuators. In this work a robot is designed to inject biological cells with size in the range of 10-30µm. The approaches used for pre-tensioning of the robot have been analysed and subjected to numerical evaluation. Assessing the mechanical parameters of the tensed manipulator has been performed using the following methods: PRBM and Finite Element Analysis (FEA). An experimental set-up for testing a robot prototype has been developed, using an optical system and correlation technique for digital image processing. The experimental results obtained are compared to data received from the numerical experiment.

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