There are two parts in this manipulator an ice gripper based on thermoelectric effects and a high accurate 5-DOF micro-manipulation arm .

本文研究了一种五自由度微操作器，该操作器主要包括两个部分：基于 电热效应的冰冻镊子（冰镊）和一个高精度的五自由度微操作 臂。

Because of the influence of the contact effect the work efficiency of thermoelectric generator will fall with length decreasing of couple arm . The more remarkable of contact effect the more quickly of the work efficiency will fall .

由于接触效应的影响， 温差 发 电器的工作效率将随 温差电偶 臂长度的减小而降低，而且接触效应影响越显著，工作效率降低的就越迅速。