Development of multi-scalable micro hand system with precise motion ability

Numerous types of micro hands have recently been designed to perform micromanipulation tasks that are crucial for micro machine assembly, microsurgery operations and biological cell analysis. Because most current micro systems are task-specific, the realization of a general-purpose micro hand that is compatible with a wide range of applications is necessary. There are two problems to be solved in order to realize a general-purpose micromanipulation system however. First, creating a large workspace with high resolution in which to grasp multi sized micro objects is still a challenging feature for available micro hands. Second, precise motion throughout a large workspace for the transportation of micro objects in the limited space of a microscope is another arduous task. In this study, we propose a micro hand system that achieves multi scalability, i.e., a large workspace with precise positioning for the grasping and transportation of multi sized micro objects. This system has been designed with an optimized parallel mechanism in which the manipulability of different-sized micro objects is improved from 1-45 μm to 1-132 μm. The proposed rough-to-fine motion strategy that allows us to achieve a large range with high resolution positioning ability for performing the transportation task moreover minimized error from 17 μm to 0.18 μm.