Micromanipulator system

A micromanipulator system for precisely positioning an object in an xz plane and then for grossly moving the object in a y direction perpendicular to the xz plane comprising:

• a base, said base defining a x axis, a y axis and a z axis;
• a platform;
• a mounting means for mounting said platform to said base for five different degrees of movement, the five degrees of movement being movement in the x direction, movement in the y direction, movement in the z direction, rotation about the x axis, and rotation about the z axis;
• moving means for reversibly moving said platform in the five degrees of movement relative to said base, said moving means including a x position moving means for precisely positioning said platform a small distance in the x direction, a z position moving means for precisely positioning said platform a small distance in the z direction, and a y position moving means for coarsely positioning said platform a large distance in the y direction, said x position moving means and said z position moving means being linear actuators which serve as axles means about which said platform rotates about the x axis and the z axis respectively;
• said base including a fixed plate and said z position moving means including a z plate such that said z position moving means pushes against said fixed plate in the z direction and said x position moving means pushes against said z plate and hence against said fixed plate in the x direction;
• a rolling friction element means for providing a respective interface between a respective said actuator and one of a respective said fixed plate and said z plate, each said rolling friction element means including a concavity in the end of a respective said linear actuator, a ball located in said concavity, and a rounded trough in said fixed plate in which said ball is located such that movement along a respective x and z axis occurs as said ball rolls along the length of said trough, and movement about a respective x and z axis occurs as said ball rides up and down the sides of said rounded trough and concavity;
• and
• a means for holding the object, said holding means being attached to said platform and moved with said platform whereby the object held by said holding means is precisely positioned in a xz plane and subsequently coarsely moved in the y direction perpendicular to the xz plane.