With a robotic view to the micro-world
The MICRON project focused on the realisation of a multi-microrobot manipulating system to handle micrometre-sized objects with nanometre precision. The robots can autonomously cooperate in order to perform delicate tasks, such as the handling of biological cells or the micro-assembly of parts. For this reason, advanced novel tools have been integrated in the robot platform, such as cameras for the provision of live images for scene interpretation. The mobile minicamera system is comprised of a robot which is capable of moving forward, sideways and can even rotate around its vertical axis. The camera housing is attached to a linear drive on the robot's body. The housing includes the charge-coupled device (CCD) chip and the miniature camera board for signal generation. With the aid of a motor stepper, a miniature lens with up to fivefold magnification capabilities has a varying position with respect to the imaging chip. An aluminium bracket translates the motor shaft's movement into a linear (vertical) motion of the lens support with a travel range of 6mm. The camera is able to focus on an object at a distance of about 4-5 mm within its field of view of about 1 mm² placed at any height within the range of the robot's movement. This mini-camera constitutes a cost-effective imaging alternative to traditional microscopes in cases, where physical constraints in the work area exist and mobility of the optical device is required. Future advancements of the system will focus on the inclusion of new components for autonomous operation, more flexibility and extending portability for unlimited applications. Further collaboration is sought with interested partners who may be engaged in component miniaturisation, optical devices, imaging devices and mobile microrobotics. For further details click at: http://wwwipr.ira.uka.de/~micron/
