| 摘要 |
PROBLEM TO BE SOLVED: To provide a micromanipulator high in operability whose gripping fingers are finely tunable at its opening and closing operation. SOLUTION: A cell handling system which has a handling section capable of gripping a cell by the two gripping fingers with their head ends close to each other by the driving force of a gripping actuator 71, a X, Y, Z-direction actuator capable of moving the handling section in the directions of X, Y and Z and a potentiometer 9a is equipped with the first controller for inputting drive signals of the gripping actuator 71, the second controller for inputting drive signals of the X, Y, Z-direction actuator, a gripping actuator control part 70 for controlling the drive of the gripping actuator 71 so that a difference between an output voltage from the potentiometer 9a and an output voltage from a Hall element 715a is zero, and an X, Y, Z-actuator control part for drive control of the X, Y, Z-direction actuator according to the pulse number as a function of an input from the second controller. COPYRIGHT: (C)2008,JPO&INPIT
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