Abstract
A dexterous micro manipulation system is developed for the application in assembling micro machine, manipulating cell, and micro surgery. A concept of a two-finger micro hand is proposed and two types of hand modules based on parallel mechanisms are designed and built. The structure of the two-finger micro hand is strongly related to the effective workspace, or the common work space of two fingers as well as its cooperation control algorithms. A structure to be suitable for a two-finger microhand is designed, and a prototype is made. Development of useful master device to operate the two-finger micro hand is important issue for the dexterous micro manipulation system. A master device operated by one hand is developed. Difference between the manipulation by two-finger hand like chopsticks and the manipulation by forefinger thumb is observed and operational algorithm for easy manipulation is discussed.
| Original language | English |
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| Pages | 850-855 |
| Number of pages | 6 |
| Publication status | Published - 1996 |
| Externally published | Yes |
| Event | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn Duration: 4 Nov 1996 → 8 Nov 1996 |
Conference
| Conference | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) |
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| City | Osaka, Jpn |
| Period | 4/11/96 → 8/11/96 |