TY - GEN
T1 - Design of a compact 3-DOF microhand system with large workspace
AU - Ejima, Toru
AU - Ohara, Kenichi
AU - Takubo, Tomohito
AU - Mae, Yasushi
AU - Tanikawa, Tamio
AU - Arai, Tatsuo
PY - 2011
Y1 - 2011
N2 - In the fields of medicine and biology, it is essential to realize fine manipulation. Therefore, micromanipulation techniques and micromanipulators such as microgrippers and optical tweezers have been developed. We have developed a two-fingered microhand which is using the parallel mechanism to realize precise and stable micromanipulation. In this paper, we report the design of a compact 3-DOF microhand system with a large workspace. This microhand contains a new parallel mechanism and its characteristic is utilizing the singularity of the parallel mechanisms. We establish an analytic theory for the proposed microhand, and we analyze the workspace. Also, we draw the CAD data to realize the system in 3D. The workspace of the proposed microhand is larger than previous microhands as far as simulation results shows.
AB - In the fields of medicine and biology, it is essential to realize fine manipulation. Therefore, micromanipulation techniques and micromanipulators such as microgrippers and optical tweezers have been developed. We have developed a two-fingered microhand which is using the parallel mechanism to realize precise and stable micromanipulation. In this paper, we report the design of a compact 3-DOF microhand system with a large workspace. This microhand contains a new parallel mechanism and its characteristic is utilizing the singularity of the parallel mechanisms. We establish an analytic theory for the proposed microhand, and we analyze the workspace. Also, we draw the CAD data to realize the system in 3D. The workspace of the proposed microhand is larger than previous microhands as far as simulation results shows.
UR - http://www.scopus.com/inward/record.url?scp=84863318516&partnerID=8YFLogxK
U2 - 10.1109/MHS.2011.6102160
DO - 10.1109/MHS.2011.6102160
M3 - Conference contribution
AN - SCOPUS:84863318516
SN - 9781457713613
T3 - 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation"
SP - 63
EP - 68
BT - 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation"
PB - IEEE Computer Society
T2 - 22nd Annual Symp. on Micro-Nano Mechatronics and Human Science, MHS 2011, Held Jointly with the Symp. on COE for Education and Research of Micro-Nano Mechatronics, Micro-Nano GCOE 2011, Symp. on Hyper Bio Assembler for 3D Cellular System Innovation
Y2 - 6 November 2011 through 9 November 2011
ER -