Development of micro manipulation system with two-finger micro hand

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.