TY - GEN
T1 - Micro-nano two-fingered hybrid manipulator hand
AU - Ramadan, Ahmed A.
AU - Inoue, Kenji
AU - Arai, Tatsuo
AU - Takubo, Tomohito
AU - Hatta, Izumi
PY - 2007
Y1 - 2007
N2 - The description of the architecture for a new compact but yet economical micro-nano two-fingered hybrid manipulator hand is presented. This hand consists of two 3-DOF parallel mechanisms, upper and lower, connected in series. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuators in the three legs of the parallel kinematics chain. Each leg has the structure of Prismatic-Revolute-Spherical (PRS) joint structure. For long lengths of glass pipette end effector, this hand can be used as micro-manipulator and it can be used as nano-manipulator for short lengths. Based on the inverse kinematics solution, a simulation program is built to optimally choose the design parameters. A proposed Computer Aided Design (CAD) model based on optimal parameters is built and realized. Also the system hardware setup of the micro-nano hand, its calibrated practical jacobian inverse matrices, its calibrated workspace volume, and its error analysis are presented.
AB - The description of the architecture for a new compact but yet economical micro-nano two-fingered hybrid manipulator hand is presented. This hand consists of two 3-DOF parallel mechanisms, upper and lower, connected in series. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuators in the three legs of the parallel kinematics chain. Each leg has the structure of Prismatic-Revolute-Spherical (PRS) joint structure. For long lengths of glass pipette end effector, this hand can be used as micro-manipulator and it can be used as nano-manipulator for short lengths. Based on the inverse kinematics solution, a simulation program is built to optimally choose the design parameters. A proposed Computer Aided Design (CAD) model based on optimal parameters is built and realized. Also the system hardware setup of the micro-nano hand, its calibrated practical jacobian inverse matrices, its calibrated workspace volume, and its error analysis are presented.
KW - Hybrid mechanisms
KW - Kinematics analysis
KW - Micro-nano manipulation
UR - http://www.scopus.com/inward/record.url?scp=50249145822&partnerID=8YFLogxK
U2 - 10.1109/MHS.2007.4420822
DO - 10.1109/MHS.2007.4420822
M3 - Conference contribution
AN - SCOPUS:50249145822
SN - 9781424418589
T3 - 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS
SP - 32
EP - 37
BT - 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS
T2 - 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS
Y2 - 11 November 2007 through 14 November 2007
ER -