TY - GEN
T1 - Development of microhand utilizing singularity of parallel mechanism
AU - Ejima, Toru
AU - Ohara, Kenichi
AU - Kojima, Masaru
AU - Horade, Mitsuhiro
AU - Tanikawa, Tamio
AU - Mae, Yasushi
AU - Arai, Tatsuo
PY - 2013
Y1 - 2013
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. However, the previous microhand has problems about workspace and vibration. In this paper, the development of a new microhand which solves problems of previous microhand. The characteristic of new microhand is to enlarge the workspace utilizing the singularity of the parallel mechanisms. Inverse kinematics and structural analysis are used to analyze the workspace, and we show that results of two analyses match. Vibration analysis simulates transportation task and grasping task for manipulation. The new microhand has a potential to reduce the vibration by vibration analysis results.
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. However, the previous microhand has problems about workspace and vibration. In this paper, the development of a new microhand which solves problems of previous microhand. The characteristic of new microhand is to enlarge the workspace utilizing the singularity of the parallel mechanisms. Inverse kinematics and structural analysis are used to analyze the workspace, and we show that results of two analyses match. Vibration analysis simulates transportation task and grasping task for manipulation. The new microhand has a potential to reduce the vibration by vibration analysis results.
KW - Parallel Mechanism
KW - Singularity
KW - Two-Fingered Microhand
UR - http://www.scopus.com/inward/record.url?scp=84893762193&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696551
DO - 10.1109/IROS.2013.6696551
M3 - Conference contribution
AN - SCOPUS:84893762193
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1525
EP - 1530
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -