Title :
Micro-Nano Two-Fingered Hybrid Manipulator Hand
Author :
Ramadan, Ahmed A. ; Inoue, Kenji ; Arai, Tatsuo ; Takubo, Tomohito ; Hatta, Izumi
Author_Institution :
Osaka Univ., Osaka
Abstract :
The description of the architecture for a new compact but yet economical micro-nano two-fingered hybrid manipulator hand is presented. This hand consists of two 3-DOF parallel mechanisms, upper and lower, connected in series. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuators in the three legs of the parallel kinematics chain. Each leg has the structure of prismatic-revolute-spherical (PRS) joint structure. For long lengths of glass pipette end effector, this hand can be used as micro-manipulator and it can be used as nano-manipulator for short lengths. Based on the inverse kinematics solution, a simulation program is built to optimally choose the design parameters. A proposed computer aided design (CAD) model based on optimal parameters is built and realized. Also the system hardware setup of the micro-nano hand, its calibrated practical Jacobian inverse matrices, its calibrated workspace volume, and its error analysis are presented.
Keywords :
Jacobian matrices; end effectors; error analysis; manipulator kinematics; micromanipulators; 3-DOF parallel mechanisms; Jacobian inverse matrices; computer aided design; end effector; error analysis; micro-nano two-fingered hybrid manipulator hand; parallel kinematics chain; piezoelectric actuators; Computational modeling; Design automation; End effectors; Error analysis; Glass; Hardware; Jacobian matrices; Kinematics; Leg; Piezoelectric actuators; Hybrid mechanisms; Kinematics analysis; Micro-nano manipulation;
Conference_Titel :
Micro-NanoMechatronics and Human Science, 2007. MHS '07. International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4244-1858-9
Electronic_ISBN :
978-1-4244-1858-9
DOI :
10.1109/MHS.2007.4420822
