Title :
Development of 3 DOF micro finger
Author :
Arai, Tatsuo ; Herve, Jacques M. ; Tanikawa, Tamio
Author_Institution :
Dept. of Robotics, Mech. Eng. Lab., Ibaraki, Japan
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;
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
DOI :
10.1109/IROS.1996.571085
