TY - GEN
T1 - Cell analysis system using two-fingered micro hand
T2 - 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "System Cell Engineering by Multi-scale Manipulation"
AU - Hatta, Izumi
AU - Ohara, Kenichi
AU - Arai, Tatsuo
AU - Mae, Yasushi
AU - Takubo, Tomohito
PY - 2008
Y1 - 2008
N2 - A two-fingered micro hand has been developed for years and it allows dexterous manipulation of a single cell: grabbing, positioning, rotation and releasing. The end-effector of this micro hand consists of two glass needles. Before grabbing an object, the glass needles need to be approached to each other manually (initial setup). However, this operation requires high skill manual control, so that it is very difficult and a time-consuming. This paper discusses improvement of the original micro hand mechanism to achieve its fine adjustment of two glass needles. For the easy initial setup, movement of the glass tips should be divided into three directions (horizontal, translational, vertical) and have the resolution of several micro meter order. Three piezoelectric devices are used to realize the fine movement for three directions. Moreover the workspace of the end-effector can be widened by applying the principle of leverage to glass and piezoelectric device. Based on these ideas, we prototyped a new shape of end-effector which enables fine movement along three axes. Using this end-effector design, the initial setup of micro hand is easier than the previous model. As a result, the micro hand can achieve more efficient manipulation.
AB - A two-fingered micro hand has been developed for years and it allows dexterous manipulation of a single cell: grabbing, positioning, rotation and releasing. The end-effector of this micro hand consists of two glass needles. Before grabbing an object, the glass needles need to be approached to each other manually (initial setup). However, this operation requires high skill manual control, so that it is very difficult and a time-consuming. This paper discusses improvement of the original micro hand mechanism to achieve its fine adjustment of two glass needles. For the easy initial setup, movement of the glass tips should be divided into three directions (horizontal, translational, vertical) and have the resolution of several micro meter order. Three piezoelectric devices are used to realize the fine movement for three directions. Moreover the workspace of the end-effector can be widened by applying the principle of leverage to glass and piezoelectric device. Based on these ideas, we prototyped a new shape of end-effector which enables fine movement along three axes. Using this end-effector design, the initial setup of micro hand is easier than the previous model. As a result, the micro hand can achieve more efficient manipulation.
KW - Adjusting mechanism
KW - Micro-manipulation
KW - Two-fingered micro hand
UR - http://www.scopus.com/inward/record.url?scp=62449257010&partnerID=8YFLogxK
U2 - 10.1109/MHS.2008.4752432
DO - 10.1109/MHS.2008.4752432
M3 - Conference contribution
AN - SCOPUS:62449257010
SN - 9781424429196
T3 - 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008
SP - 108
EP - 113
BT - 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics"
Y2 - 6 November 2008 through 9 November 2008
ER -