Feasibility study of magnetically levitated microhand for machining and assembly

Author

Nakamura, Tatsuya ; Mori, Yoshikazu ; Kogure, Yoshiyuki ; Akamatsu, Hideki

Author_Institution

Dept. of Precision Eng., Tokyo Metropolitan Univ., Japan

fYear

1998

fDate

25-28 Nov 1998

Firstpage

189

Lastpage

194

Abstract

The second version of the microhand, TMU-MH II, composed of two finger subsystems has been designed. Each endeffector is constrained to a 3-DOF parallel link mechanism to perform machining tasks as well as assembly and is driven directly using magnets for precise positioning and compact design. New magnetic actuators composed of coils and rare-earth permanent magnets are proposed and tested. A feasibility study of machining using the new components, except the link mechanism, are conducted and the results are shown. The new parallel link mechanism is being made now and will be reported on

Keywords

assembling; electromagnetic actuators; industrial manipulators; machining; magnetic levitation; 3-DOF parallel link mechanism; TMU-MH II; assembly; endeffector; finger subsystems; machining; magnetic actuators; magnetically levitated microhand; permanent magnets; Actuators; Assembly; Coils; Drilling; Machining; Magnetic levitation; Magnetic sensors; Optical design; Permanent magnets; Production;

fLanguage

English

Publisher

ieee

Conference_Titel

Micromechatronics and Human Science, 1998. MHS '98. Proceedings of the 1998 International Symposium on

Conference_Location

Nagoya

Print_ISBN

0-7803-5130-4

Type

conf

DOI

10.1109/MHS.1998.745780

Filename

745780