Kinematic analysis of a two-fingered haptic interface for dexterous micromanipulation

In telemanipulation of micromechanical parts, it is important to consider the scaling effect problem in terms of manipulator precision, human sensation, environment accessibility and dexterity. For this purpose a two-fingered planar hand mechanism based on a double pantograph mechanism has been theoretically studied and evaluated in terms of kinematic performances, workspace and manipulability in micro domain. Hence the proposed mechanism can overcome disadvantage such as the singular configurations existing in the inside workspace for typical parallel mechanisms. This system provides the human operator with natural force feedback sensation inside confined micro environments.