Pneumatic micro hand and miniaturized parallel link robot for micro manipulation robot system

Author

Konishi, Satoshi ; Nokata, Makoto ; Jeong, Ok Chan ; Kusuda, Shinya ; Sakakibara, Tsuyoshi ; Kuwayama, Miyuki ; Tsutsumi, Hidetoshi

Author_Institution

Dept. of Micro Syst. Technol., Ritsumeikan Univ., Kyoto

fYear

2006

fDate

15-19 May 2006

Firstpage

1036

Lastpage

1041

Abstract

This paper reports the pneumatic PDMS micro hand as an end-effector of robot and miniaturized parallel link robot (guide robot) for manipulating a tiny and delicate object. Micro finger structure for the micro hand consists of bonded two films having different stiffness. Balloon structures are designed between the two films. Swelling of the balloon structure by applied pressure generates bending motion of the micro finger. This combination of the micro hand is based on the human being´s finger and/or hand. The guide robot has several design specifications such as multi degrees of freedom joint as a human, small size, highly accurate directional control and water/ sterilization proof. Micro manipulation robot system is developed by assembling the micro finger with two or three degree of freedom, the guide robot and VR (virtual reality) interface device. The hybrid motion and the manipulation of a single egg (phi1 mm) of fish and a hair (phi100 mum) in macro world is successfully realized

Keywords

end effectors; medical robotics; micromanipulators; pneumatic control equipment; micromanipulation robot system; microsurgery; miniaturized parallel link robot; pneumatic microfinger; virtual reality; Assembly systems; Bonding; Fingers; Hair; Humans; Marine animals; Parallel robots; Robotic assembly; Size control; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1641846

Filename

1641846