Design optimization of a compact 3-DOF parallel micro/nano finger manipulator

Ahmed A. Ramadan*, Kenji Inoue, Tatsuo Arai, Tomohito Takubo

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Citations (Scopus)

Abstract

A compact and yet economical 3-DOF micro/nano finger manipulator based on micro parallel kinematics structure is presented in this paper. It uses three piezo-electric actuators and two types of flexure joints, one is a revolute joint and the other is a ball joint, as its main mechanism. The problem of inverse kinematics between end effector position and actuator displacements along with the jacobian matrix for this design is derived. A glass needle of 3 to 10cm length is used as the end effector to increase the workspace of the micro/nano manipulator. As the length of the glass needle end effector is decreased, the resolution and accuracy of the manipulator is increased while the workspace volume is decreased. The design parameters are optimally chosen so that the manipulator will obtain maximum workspace volume. The simulation results illustrate that the proposed model has a large workspace and in the same time it will be small in size using the proposed architecture.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages778-783
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 9 Oct 200615 Oct 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/TerritoryChina
CityBeijing
Period9/10/0615/10/06

Keywords

  • Kinematics analysis
  • Micro/Nano manipulator
  • PRS joint structure
  • Parallel mechanisms

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Ramadan, A. A., Inoue, K., Arai, T., & Takubo, T. (2006). Design optimization of a compact 3-DOF parallel micro/nano finger manipulator. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 778-783). Article 4058454 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282629