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Development of a multi-degree-of-freedom precision stage with soft end effector for 3-dimension single cell manipulation
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Nie, Kuang. Development of a multi-degree-of-freedom precision stage with soft end effector for 3-dimension single cell manipulation. Retrieved from https://doi.org/doi:10.7282/t3-kczf-2v34

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TitleDevelopment of a multi-degree-of-freedom precision stage with soft end effector for 3-dimension single cell manipulation
NameNie, Kuang (author); Zou, Qingze (chair); Mazzeo, Aaron (co-chair); Bai, Xiaoli (internal member); Lee, Howon (internal member); Rutgers University; School of Graduate Studies
Date Created2019
Other Date2019-10 (degree)
SubjectMechanical and Aerospace Engineering, Microscopy -- Equipment and supplies -- Design and construction, Three-dimensional imaging -- Equipment and supplies -- Design and construction
Extent1 online resource (v, 50 pages) : illustrations
DescriptionThis thesis is focused on the creation of a real-time 3-D single cell manipulation system based on pneumatic actuation-based soft end-effector. Single cell manipulation will benefit a lot to cell analysis. Separating a cell from the cell culture will give us a better observation of growth of one cell. Applying automatic robot in cell manipulation will make this process faster and more accurate. In this thesis, a hybrid-soft robotic manipulation system is developed that integrates a soft needle as the end effector for picking-up, translation, and release operation of micro beads with a three-DOF translation stage. This research work combines the exploit and exploration of soft robotics, vision-`based control, real-time control system and MIIC technique. Since our final goal is to manipulate cell by using the devices, resolution, dimension and precision are critical for the design of the device. A high precision 3-axis translational robot arm is selected.

To reduce and avoid damage of the cell membrane during the manipulation process, a soft needle made of PDMS and Ecoflex is designed and fabricated. Membrane attached to the top of the needle is designed to prevent liquid from entering the syringe, which would also be helpful to grasp the cell. Stresses are tested to get the most suitable deformation for grabbing a cell. Image-based control and real-time control system are coupled together to achieve automatic positioning and moving without inputting any signal during every run. Using of high resolution camera gives the precise position of the target object. Real-time control system helps to cut error during processing and also improve operational efficiency. Also, the MIIC technique is used to achieve precision positioning during high-speed movement. Design, fabrication, motion simulation, motion control and finite element analysis are covered in this research work.
NoteM.S.
NoteIncludes bibliographical references
Genretheses, ETD graduate
Persistent URLhttps://doi.org/doi:10.7282/t3-kczf-2v34
LanguageEnglish
CollectionSchool of Graduate Studies Electronic Theses and Dissertations
Organization NameRutgers, The State University of New Jersey
RightsThe author owns the copyright to this work.
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