ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

Tesi etd-06232015-105840


Tipo di tesi
Tesi di laurea magistrale
Autore
SARACINO, ARIANNA
URN
etd-06232015-105840
Titolo
Modeling and experimental validation of a parallel microrobot for biomanipulation
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA BIOMEDICA
Relatori
tutor Prof. Haliyo, Sinan D.
relatore Prof.ssa Menciassi, Arianna
Parole chiave
  • geometrical model
  • virtual reality
  • parallel robots
  • micropositioners
Data inizio appello
17/07/2015
Consultabilità
Completa
Riassunto
The main purpose of this project is the development of a commercial micropositioner's (SmarPod 115.25, SmarAct GmbH) geometrical model. SmarPod is characterized by parallel kinematics and is employed for precise and accurate sample's positioning under SEM microscope, being vacuum-compatible, for various applications.
Geometrical modeling represents the preliminar step to fully understand, and possibly improve, robot's closed loop behaviour in terms of task's quality precision, when enterprises does not provide sufficient documentation. The robotic system, in fact, represents in this case a "black box" from which it's possible to extract information. This step is essential in order to improve, consequently, the reliability of bio-microsystem manipulation and characterization.
Disposing of a detailed microrobot's model becomes essential to deal with the typical lack of sensing at microscale, as it allows a 3D precise and adequate reconstruction, realized through proper softwares, of the manipulation set-up.
The roles of Virtual Reality (VR) and of simulations, carried out, in this case, in Blender environment, are asserted as well as an essential helping tool in mycrosystem's task planning. Blender is a professional free and open-source 3D computer graphics software and it is proven to be a basic instrument to validate microrobot's model, even to simplify it in case of complex system's geometries.
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