Micro hand module using parallel link mechanism

A dexterous micro manipulation technique is required for application in various tasks, such as handling and assembling micro objects. In this paper a concept for a two finger micro hand is proposed, and micro manipulation tasks to be done by this hand are categorized and analyzed. Next, a micro parallel link mechanism is proposed as a hand module which has 6 piezo devices as prismatic actuators. The hardware design, specification, and basic characteristics, such as motion range and accuracy, are analyzed. The control system is also discussed in terms of realizing linear motion of the piezo actuators using strain gage position feedback.