Design of a compact 3-DOF microhand system with large workspace

Author

Ejima, Toru ; Ohara, Kenichi ; Takubo, Tomohito ; Mae, Yasusni ; Tanikawa, Tamio ; Arai, Tatsuo

Author_Institution

Dept. of Syst. Innovation, Osaka Univ., Toyonaka, Japan

fYear

2011

fDate

6-9 Nov. 2011

Firstpage

63

Lastpage

68

Abstract

In the fields of medicine and biology, it is essential to realize fine manipulation. Therefore, micromanipulation techniques and micromanipulators such as microgrippers and optical tweezers have been developed. We have developed a two-fingered microhand which is using the parallel mechanism to realize precise and stable micromanipulation. In this paper, we report the design of a compact 3-DOF microhand system with a large workspace. This microhand contains a new parallel mechanism and its characteristic is utilizing the singularity of the parallel mechanisms. We establish an analytic theory for the proposed microhand, and we analyze the workspace. Also, we draw the CAD data to realize the system in 3D. The workspace of the proposed microhand is larger than previous microhands as far as simulation results shows.

Keywords

CAD; grippers; medical robotics; micromanipulators; CAD data; biology; compact 3-DOF microhand system; medicine; microgripper; micromanipulation; micromanipulator; optical tweezer; parallel mechanism; two-fingered microhand; Economic indicators; Guidelines;

fLanguage

English

Publisher

ieee

Conference_Titel

Micro-NanoMechatronics and Human Science (MHS), 2011 International Symposium on

Conference_Location

Nagoya

ISSN

Pending

Print_ISBN

978-1-4577-1360-6

Type

conf

DOI

10.1109/MHS.2011.6102160

Filename

6102160