Flexure structure for stage positioning

• US 5,374,556 A
• Filed: 07/23/1992
• Issued: 12/20/1994
• Est. Priority Date: 07/23/1992
• Status: Expired due to Fees

• Current Assignee: Cell Robotics Incorporated
• Original Assignee: Cell Robotics Incorporated
• Inventors: Bennett, Richard R., Wolf, Michael A.
• Primary Examiner(s): Beisner, William H.
• Application Number:
  US07/919,361
• Time in Patent Office: 880 Days
• Field of Search: 435/287, 435/291, 435/808, 435/809, 422/99, 422/104, 359/391, 359/392, 248/913, 248/560, 248/566, 248/581, 248/585, 248/586, 248/564, 108/136
• US Class Current: 435/283.1
• CPC Class Codes: B23Q 1/36 Springs
• CPC Class Codes: C12M 33/00 Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus chemical or physical laboratory apparatus in general B01L, devices for taking cell samples A61B10/0045, withdrawing or distributing predetermined quantities of fluid B01L99/00
• CPC Class Codes: F16F 15/073 using only leaf springs
• CPC Class Codes: F16F 2230/34 Flexural hinges
• CPC Class Codes: H05H 3/04 Acceleration by electromagnetic wave pressure
• CPC Class Codes: Y10S 248/913 Two axis article engaging means, e.g. x - y device
• CPC Class Codes: Y10S 435/808 Optical sensing apparatus

Abstract

An apparatus for positioning an operational member, particularly for use in an optical laser system for optically trapping and manipulating microscopic particles in a particle manipulation chamber. A flexure member, is provided which has a pair of substantially inflexible parallel members and four sets of flexible spring members. The pair of parallel members is maintained in a spaced relationship by the four sets of flexible spring members. Each of the four sets of flexible members has at least two parallel flexible elements which can be leaf springs or formed as a unitary part of the flexure member. The four sets of flexible spring members are in two groups of two flexible spring members with each of two of groups of flexible members having their two sets of flexible spring members positioned in a "V" shaped pattern. The apices of the "V" shaped patterns are positioned outwardly of each other forming a parallelogram having at least six sides and preferably a parallelogram having eight sides.

Claims

1. A flexure member, comprising:

a pair of parallel members, said pair of parallel members being substantially parallel and inflexible; and

four sets of flexible spring members, said four sets of flexible spring members maintaining said pair of parallel members in a spaced parallel relationship, each of said four sets of flexible spring members comprising;

at least two parallel flexible elements, each of said at least two parallel flexible elements having a first end and a second end,

said first end of each of said at least two parallel flexible elements being disposed proximate one of said pair of parallel members,

said second end of each of said at least two parallel flexible members extending diagonally from said one of said pair of parallel members in a direction toward the other of said pair of parallel members,

wherein said second end of each of said at least two parallel flexible elements of a first set of said four sets of flexible spring members connects with a corresponding second end of said at least two parallel flexible elements of a second set of said four sets of flexible spring members, thereby forming a first vertex and defining an included angle, and,

wherein said second end of each of said at least two parallel flexible elements of a third set of said four sets of flexible spring members connects with a corresponding second end of said at least two parallel flexible elements of a fourth set of said four sets of flexible spring members, thereby forming a second vertex and defining an included angle;

wherein said included angle formed at said first vertex and said second vertex is less than 180°

.

2. An apparatus for positioning an operational member comprising a flexure member, said flexure member comprising:

a pair of parallel members, said pair of parallel members being substantially parallel and inflexible, one of said pair of parallel members for supporting said operational member; and

four sets of flexible spring members, said four sets of flexible spring members maintaining said pair of parallel members in a spaced parallel relationship and responding to an applied force such that said pair of parallel members move toward or away from each other while maintaining said spaced parallel relationship, each of said four sets of flexible spring members comprising;

at least two parallel flexible elements, each of said at least two parallel flexible elements having a first end and a second end,

said first end of each of said at least two parallel flexible elements being disposed proximate one of said pair of parallel members,

said second end of each of said at least two parallel flexible members extending diagonally from said one of said pair of parallel members in a direction toward the other of said pair of parallel members,

wherein said second end of each of said at least two parallel flexible elements of a first set of said four sets of flexible spring members connects with a corresponding second end of said at least two parallel flexible elements of a second set of said four sets of flexible spring members, thereby forming a first vertex and defining an included angle;

wherein said second end of each of said at least two parallel flexible elements of a third set of said four sets of flexible spring members connects with a corresponding second end of said at least two parallel flexible elements of a fourth set of said four sets of flexible spring members, thereby forming a second vertex and defining an included angle;

wherein said included angle formed at said first vertex and said second vertex is less than 180°

.

3. The apparatus of claim 2, wherein each of said at least two parallel flexible elements of each of said four sets of flexible spring members comprises a leaf spring.

4. The apparatus of claim 2, wherein said leaf springs of said first set are parallel to said leaf springs of said third set, and said leaf springs of said second set are parallel to said leaf springs of said fourth set.

5. The apparatus of claim 3 wherein, said included angle of said first vertex faces said included angle of said second vertex.

6. The apparatus of claim 5, further comprising a first intermediate member and a second intermediate member, said first intermediate member being positioned at said first vertex and the second intermediate member being positioned at said second vertex, one end of each leaf spring being fixed to one end of said pair of parallel members.

7. The apparatus of claim 6, further comprising stabilizer means, said stabilizer means being positioned between said pair of parallel members, said parallel members being disposed to lie within the same plane, said stabilizer means having a first end fixed to one of said pair of parallel members and a second end fixed to the other of said pair of parallel members, said stabilizer means being positioned essentially midway between and substantially parallel to said pair of parallel members, whereby movement of said pair of parallel members is restricted to movement toward and away from each other within said same plane.

8. The apparatus of claim 2, wherein said flexure member is a unitary element.

9. The apparatus of claim 8, wherein each of said at least two flexible elements of each set of said four sets of flexible spring members is a spring element capable of leaf spring flexure.

10. The apparatus of claim 9, wherein said included angle of said first vertex faces said included angle of said second vertex.

11. The apparatus of claim 10, wherein said spring elements capable of leaf spring flexure of said first set are parallel to said spring elements capable of leaf spring flexure of said third set, and said spring elements capable of leaf spring flexure of said second set are parallel to said spring elements capable of leaf spring flexure of said fourth set.

12. The apparatus of claim 11, further comprising a first and a second intermediate member, said first intermediate member being positioned at said first vertex and the second intermediate member being positioned at said second vertex, one end of each spring element being fixed to an intermediate member and the other end of each spring element being fixed to one of said pair of parallel members.

13. The apparatus of claim 10, further comprising stabilizer means, said stabilizer means being positioned between said pair of parallel members, said parallel members being disposed to lie within the same plane, said stabilizer means having a first end fixed to one of said pair of parallel members and a second end fixed to the other of said pair of parallel members, said stabilizer means being positioned essentially midway between and substantially parallel to said pair of parallel members, whereby movement of said pair of parallel members is restricted to movement toward and away from each other within said same plane.

14. The apparatus of claim 11, wherein each of said spring elements capable of leaf spring flexure has at least two primary regions of flexure along its length.

15. The apparatus of claim 8, wherein said flexure member is a polygon having at least six sides.

16. The apparatus of claim 15, wherein said flexure member is a polygon having eight sides.

17. An apparatus for positioning an operational member comprising a first and a second flexure member, each said flexure member comprising:

a. a pair of parallel members, said pair of parallel members being substantially parallel and inflexible, one of said pair of parallel members for supporting said operational member

b. four sets of flexible spring members, said four sets of flexible spring members maintaining said pair of parallel members in a spaced parallel relationship and responding to an applied force such that said pair of parallel members move toward or away from each other while maintaining said spaced parallel relationship, each of said four sets of flexible spring members comprising;

at least two parallel flexible elements, each of said at least two parallel flexible elements having a first end and a second end,

said first end of each of said at least two parallel flexible elements being disposed proximate one of said pair of parallel members,

said second end of each of said at least two parallel flexible members extending diagonally from said one of said pair of parallel members in a direction toward the other of said pair of parallel members,

wherein said second end of each of said at least two parallel flexible elements of a first set of said four sets of flexible spring members connects with a corresponding second end of said at least two parallel flexible elements of a second set of said four sets of flexible spring members, thereby forming a first vertex and defining an included angle;

wherein said second end of each of said at least two parallel flexible elements of a third set of said four sets of flexible spring members connects with a corresponding second end of said at least two parallel flexible elements of a fourth set of said four sets of flexible spring members, thereby forming a second vertex and defining an included angle;

wherein said included angle formed at said first vertex and said second vertex is less than 180°

,

said first flexure member being spaced from and parallel to said second flexure member, and frame means, said frame means having a first and second frame member, each of said first and second frame members having a first end and a second end, said first vertex of said first flexure member being fixed to said first end of said first frame member and said second vertex of said first flexure member being fixed to said first end of said second frame member, said first vertex of said second flexure member being fixed to said second end of said first frame member and said second vertex of said second flexure member being fixed to said second end of said second frame member, wherein said frame means simultaneously applies an external force to said first and second flexure members.

18. The apparatus of claim 17, wherein each said flexure member is a unitary element.

19. The apparatus of claim 18, wherein in each said flexure member each of said at least two flexible elements of each set of said four sets of flexible spring members comprise a spring elements capable of leaf spring flexure.

20. The apparatus of claim 19, wherein in each said flexure member, said included angle of said first vertex faces said included angle of said second vertex.

21. The apparatus of claim 20, wherein in each said flexure member, said spring elements capable of leaf spring flexure of said first set are parallel to said spring elements capable of leaf spring flexure of said third set, and said spring elements capable of leaf spring flexure of said second set are parallel to said spring elements capable of leaf spring flexure of said fourth set.

22. The apparatus of claim 21, wherein each said flexure member further comprises a first and a second intermediate member, said first intermediate member being positioned at said first vertex and the second intermediate member being positioned at said second vertex, one end of each spring element being fixed to an intermediate member and the other end of each spring element being fixed to one of said pair of parallel members.

23. The apparatus of claim 20, wherein each said flexure member further comprises stabilizer means, said stabilizer means being positioned between said pair of parallel members, said parallel members being disposed to lie within the same plane, said stabilizer means having a first end fixed to one of said pair of parallel members and a second end fixed to the other of said pair of parallel members, said stabilizer means being positioned essentially midway between and substantially parallel to said pair of parallel members, whereby movement of said pair of parallel members is restricted to movement toward and away from each other within said same planes.

24. The apparatus of claim 21, wherein each of said spring elements capable of leaf spring flexure has at least two primary regions of flexure along its length.

25. The apparatus of claim 18, wherein each said flexure member is a polygon having at least six sides.

26. The apparatus of claim 25, wherein each said flexure member is a polygon having eight sides.

27. In a laser system for optically trapping and manipulating microscopic particles in a particle manipulation chamber the improvement comprising means for positioning said particle manipulation chamber, said means including a flexure member, said flexure member comprising:

a. a pair of parallel members, said pair of parallel members being substantially parallel and inflexible, one of said pair of parallel members for supporting said particle manipulation chamber,

b. four sets of flexible spring members, said four sets of flexible spring members maintaining said pair of parallel members in a spaced parallel relationship and responding to an applied force such that said pair of parallel members move toward or away from each other while maintaining said spaced parallel relationship, each of said four sets of flexible spring members comprising;

at least two parallel flexible elements, each of said at least two parallel flexible elements having a first end and a second end,

said first end of each of said at least two parallel flexible elements being disposed proximate one of said pair of parallel members,

said second end of each of said at least two parallel flexible members extending diagonally from said one of said pair of parallel members in a direction toward the other of said pair of parallel members,

wherein said second end of each of said at least two parallel flexible elements of a first set of said four sets of flexible spring members connects with a corresponding second end of said at least two parallel flexible elements of a second set of said four sets of flexible spring members, thereby forming a first vertex and defining an included angle;

wherein said second end of each of said at least two parallel flexible elements of a third set of said four sets of flexible spring members connects with a corresponding second end of said at least two parallel flexible elements of a fourth set of said four sets of flexible spring members, thereby forming a second vertex and defining an included angle;

wherein said included angle formed at said first vertex and said second vertex is less than 180°

.

28. The apparatus of claim 27, wherein said means for positioning said particle manipulation chamber further comprises a second flexure member, said second flexure member comprising:

a. a pair of parallel members, said pair of parallel members being substantially parallel and inflexible, one of said pair of parallel members for supporting said manipulation chamber,

b. four sets of flexible spring members, said four sets of flexible spring members maintaining said pair of parallel members in a spaced parallel relationship and responding to an applied force such that said pair of parallel members move toward or away from each other while maintaining said spaced parallel relationship, each of said four sets of flexible spring members comprising;

at least two parallel flexible elements, each of said at least two parallel flexible elements having a first end and a second end,

said first end of each of said at least two parallel flexible elements being disposed proximate one of said pair of parallel members,

said second end of each of said at least two parallel flexible members extending diagonally from said one of said pair of parallel members in a direction toward the other of said pair of parallel members,

wherein said second end of each of said at least two parallel flexible elements of a first set of said four sets of flexible spring members connects with a corresponding second end of said at least two parallel flexible elements of a second set of said four sets of flexible spring members, thereby forming a first vertex and defining an included angle;

wherein said second end of each of said at least two parallel flexible elements of a third set of said four sets of flexible spring members connects with a corresponding second end of said at least two parallel flexible elements of a fourth set of said four sets of flexible spring members, thereby forming a second vertex and defining an included angle;

wherein said included angle formed at said first vertex and said second vertex is less than 180°

,

said first flexure member being spaced from and parallel to said second flexure member, and frame means, said frame means having a first and second frame member, each of said first and second frame members having a first end and a second end, said first vertex of said first flexure member being fixed to said first end of said first frame member and said second vertex of said first flexure member being fixed to said first end of said second frame member, said first vertex of said second flexure member being fixed to said second end of said first frame member and said second vertex of said second flexure member being fixed to said second end of said second frame member, wherein said frame means simultaneously applies an external force to said first and second flexure members.

29. The apparatus of claim 28, wherein each said flexure member is a unitary element.

30. The apparatus of claim 29, wherein in each said flexure member, each of said at least two flexible elements of each set of said four sets of flexible spring members is a spring element capable of leaf spring flexure.

31. The apparatus of claim 30, wherein in each said flexure member, said included angle of said first vertex faces said included angle of said second vertex.

32. The apparatus of claim 31, wherein in each said flexure member, said spring elements capable of leaf spring flexure of said first set are parallel to said spring elements capable of leaf spring flexure of said third set, and said spring elements capable of leaf spring flexure of said second set are parallel to said spring elements capable of leaf spring flexure of said fourth set.

33. The apparatus of claim 32, wherein each said flexure member further comprises a first and a second intermediate member, said first intermediate member being positioned at said first vertex and the second intermediate member being positioned at said second vertex, one end of each spring element being fixed to an intermediate member and the other end of each spring element being fixed to one of said pair of parallel members.

34. The apparatus of claim 33, wherein each said flexure member further comprises stabilizer means, said stabilizer means being positioned between said pair of parallel members, said parallel members being disposed to lie within the same plane, said stabilizer means having a first end fixed to one of said pair of parallel members and a second end fixed to the other of said pair of parallel members, said stabilizer means being positioned essentially midway between and substantially parallel to said pair of parallel members, whereby movement of said pair of parallel members is restricted to movement toward and away from each other within said same plane.

35. The apparatus of claim 33, wherein each of said spring elements capable of leaf spring flexure has at least two primary regions of flexure along its length.

36. The apparatus of claim 35, wherein each said flexure member is a polygon having at least six sides.

37. The apparatus of claim 36, wherein each said flexure member is a polygon having eight sides.