For automation of biological experiments at the micro-scale, highly precise manipulator equipped with a microscope is required. However, current micropositioning stages have several limitations, such as: 1) manual operation, 2) lack of rotational capability, 3) incompatibility with a microscope, and 4) small range of motion (RoM). This research aims to develop a microscope compatible XYθ micropositioning stage with large RoM for phenotyping multiple biological samples rapidly for various microscopic applications. An underactuated planar mechanism, kinematic analysis, and control of the XYθ stage are presented in this paper. The planar mechanism consists of two piezoelectric linear actuators for translational motion capability and two passive revolute joints at the tip of each linear actuator for rotational capability. Based on the kinematic analysis of the stage, controllability and control strategy of the underactuated stage is described. Finally, the feasibility of the micropositioning stage for a general positioning and orienting task is verified by both simulation and tissue core experiments.
Keywords: Controllability; Micropositioning; Microscopic applications; Point-to-point control; Underactuated planar mechanism.