Optimal design of micromanipulation systems for precision haptic exploration

Electronics assembly, biological cell handling, and microscopy tasks require tools that are accurate to the nanometre. Industrial style robots cannot be made to be precise enough for nanotechnology applications, whilst the limited movement of current ultraprecise robots prevents their use in industry. This thesis investigated the design of novel micro-robots to increase their range and dexterity. Mathematical models and computational design tools were developed to optimize micro- motors, hinges and joints, and produce improved micro-robots. When controlled by a joystick-like haptic device, they were able to safely and reliably move objects with nanometre accuracy.