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Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang

Electronic Theses and Dissertations

Future assembly technologies will involve higher levels of automation in order to satisfy increased microscale or nanoscale precision requirements. Traditionally, assembly using a top-down robotic approach has been well-studied and applied to the microelectronics and MEMS industries, but less so in nanotechnology. With the boom of nanotechnology since the 1990s, newly designed products with new materials, coatings, and nanoparticles are gradually entering everyone’s lives, while the industry has grown into a billion-dollar volume worldwide. Traditionally, nanotechnology products are assembled using bottom-up methods, such as self-assembly, rather than top-down robotic assembly. This is due to considerations of volume handling of large …

Design, Manufacturing And Control Of An Advanced High-Precision Robotic System For Microsurgery, Arezoo Ebrahimi

Electronic Theses and Dissertations

Microsurgeries like ophthalmic surgery confront many challenges like limited workspace and hand motion, steady hand movements, manipulating delicate thin tissues, and holding the instrument in place for a long time. New developments in robotically-assisted surgery can highly benefits this field and facilitate those complicated surgeries. Robotic eye surgery can save time, reduce surgical complications and inspire more delicate surgical procedures that cannot be done currently by surgeon’s hands. In this thesis work, the requirements for ophthalmic surgeries were studied and based on that a robotic system with 6 DOF is proposed and designed. This robotic

system is capable of handling …