TY - GEN
T1 - New hybrid two-fingered micro-nano manipulator hand
T2 - 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
AU - Ramadan, Ahmed A.
AU - Inoue, Kenji
AU - Arai, Tatsuo
AU - Takubo, Tomohito
PY - 2007
Y1 - 2007
N2 - In this paper, the structure of a new compact and yet economical two-fingered micro-nano hybrid manipulator hand is presented. The hybrid manipulator hand consists of two series modules; upper and lower module. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuated prismatic joints in each of the three legs of the parallel kinematics chain. Each leg has the structure of Prismatic-Revolute-Spherical (PRS) joint structure. As the length of the glass pipette end effector is decreased, the resolution and accuracy of the micro-nano manipulator hand is increased. For long lengths of glass pipette end effector, this manipulator works as micro-manipulator and it works as nano-manipulator for short lengths. A solution for the inverse kinematics problem of the complete mechanism is obtained. Based on this solution, a simulation program has been developed to optimally choose the design parameters so that the mechanism will have a maximum workspace volume. 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 and its practical jacobian is presented.
AB - In this paper, the structure of a new compact and yet economical two-fingered micro-nano hybrid manipulator hand is presented. The hybrid manipulator hand consists of two series modules; upper and lower module. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuated prismatic joints in each of the three legs of the parallel kinematics chain. Each leg has the structure of Prismatic-Revolute-Spherical (PRS) joint structure. As the length of the glass pipette end effector is decreased, the resolution and accuracy of the micro-nano manipulator hand is increased. For long lengths of glass pipette end effector, this manipulator works as micro-manipulator and it works as nano-manipulator for short lengths. A solution for the inverse kinematics problem of the complete mechanism is obtained. Based on this solution, a simulation program has been developed to optimally choose the design parameters so that the mechanism will have a maximum workspace volume. 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 and its practical jacobian is presented.
KW - Hybrid structure manipulators
KW - Kinematics problem analysis
KW - Micro-nano manipulation
UR - http://www.scopus.com/inward/record.url?scp=37049034866&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2007.4303953
DO - 10.1109/ICMA.2007.4303953
M3 - Conference contribution
AN - SCOPUS:37049034866
SN - 1424408288
SN - 9781424408283
T3 - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
SP - 2524
EP - 2529
BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Y2 - 5 August 2007 through 8 August 2007
ER -