@inproceedings{f04888dab41641d78104b988c4d00271,
title = "New design of a compact parallel micro-nano two-fingered manipulator hand",
abstract = "This paper presents the analysis and design optimization of a new compact and yet economical micro-nano two-fingered manipulator hand. The proposed manipulator hand consists of two series modules; upper and lower module. Each module consists of a parallel kinematics chain with a glass pipette of 3 to 10cm length as an end effector. It is driven by three piezoelectric actuated prismatic joints in each of the three legs of the kinematics chain. Each leg of the kinematics chain has the structure of Prismatic-Revolute-Socket ball (PRS) joints structure. As the length of the glass pipette end effector is decreased, the resolution and accuracy of the micro-nano manipulator hand is increased. A new solution for the problem of inverse kinematics is obtained. Based on this solution, a simulation program has been developed to optimally choose the design parameters of each module so that the manipulator will have a maximum workspace volume. Also the manipulator hand will be small in size due to the proposed architecture.",
keywords = "Kinematics analysis, Micro-nano manipulation, PRS joint structure, Parallel mechanisms",
author = "Ramadan, \{Ahmed A.\} and Kenji Inoue and Tatsuo Arai and Tomohito Takubo and Tamio Tanikawa",
year = "2007",
doi = "10.1109/NEMS.2007.352070",
language = "English",
isbn = "1424406102",
series = "Proceedings of the 2nd IEEE International Conference on Nano/Micro Engineered and Molecular Systems, IEEE NEMS 2007",
pages = "515--519",
booktitle = "Proceedings of the 2nd IEEE International Conference on Nano/Micro Engineered and Molecular Systems, IEEE NEMS 2007",
note = "2007 2nd IEEE International Conference on Nano/Micro Engineered and Molecular Systems, IEEE NEMS 2007 ; Conference date: 16-01-2007 Through 19-01-2007",
}