摘要
A 3 degree-of-freedom micro finger, that has pure translational motion, is proposed. The finger will be applied in the two finger micro manipulation in order to manipulate micrometer size objects dexterously. The possible configurations are considered based on the group theory. Then, the optimal configuration is proposed by taking simple machining of joint structures into account. Kinematics analysis is made in order to describe the relation between end effect and actuator displacements. The design parameters are examined by evaluating the force capability of the actuator and the work space volume. Basic experiments are made by a prototype finger module that show excellent micro motion capability.
| 源语言 | 英语 |
|---|---|
| 页 | 981-987 |
| 页数 | 7 |
| 出版状态 | 已出版 - 1996 |
| 已对外发布 | 是 |
| 活动 | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn 期限: 4 11月 1996 → 8 11月 1996 |
会议
| 会议 | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) |
|---|---|
| 市 | Osaka, Jpn |
| 时期 | 4/11/96 → 8/11/96 |
指纹
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Arai, T., Herve, J. M., & Tanikawa, T. (1996). Development of 3 DOF micro finger. 981-987. 论文发表于 Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3), Osaka, Jpn.