Development of 3 DOF micro finger

Author

Arai, Tatsuo ; Herve, Jacques M. ; Tanikawa, Tamio

Author_Institution

Dept. of Robotics, Mech. Eng. Lab., Ibaraki, Japan

Volume

2

fYear

1996

fDate

4-8 Nov 1996

Firstpage

981

Abstract

A 3 DOF micro finger, that has pure translational motion, is proposed. The finger will be applied in the two finger micro manipulation in order to manipulate micrometer size objects dexterously. The possible configurations are considered based on the group theory. Then, the optimal configuration is proposed by taking simple machining of joint structures into account. Kinematics analysis is made in order to describe the relation between end effector and actuator displacements. The design parameters are examined by evaluating the force capability of the actuator and the work space volume. Basic experiments are made by a prototype finger module that show excellent micro motion capability

Keywords

group theory; manipulator kinematics; micromechanical devices; 3 DOF micro finger; actuator displacements; dexterous manipulation; end effector; force capability; group theory; kinematics analysis; machining; micro motion capability; micrometer size objects; optimal configuration; pure translational motion; Ambient intelligence; End effectors; Fingers; Kinematics; Laboratories; Machining; Piezoelectric actuators; Prototypes; Robots; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on

Conference_Location

Osaka

Print_ISBN

0-7803-3213-X

Type

conf

DOI

10.1109/IROS.1996.571085

Filename

571085