DocumentCode
2848539
Title
Design of micro-hand with two magnetic levitated fingers
Author
Nakamura, T. ; Ando, Ichiyo
Author_Institution
Dept. of Precision Eng., Tokyo Metropolitan Univ., Japan
fYear
1997
fDate
1997
Firstpage
137
Lastpage
142
Abstract
A micro-hand with two fingers was designed and a prototype of one finger subsystem with three degrees of freedom was developed to show the validity of the design. The finger is constrained with a 3-DOF link mechanism and is directly driven with three pairs of electromagnets. Friction of the mechanism is negligibly small so that force control is easily realized by regulating the currents of the magnets. The performance of the prototype was evaluated by the application to micro drawing
Keywords
dexterous manipulators; electromagnetic actuators; force control; magnetic levitation; manipulator kinematics; microactuators; micromanipulators; step response; MAGLEV actuation; electromagnet driven; force control; kinematics; link mechanism; micro drawing; micro-hand; micromanipulator; one finger subsystem prototype; prototype performance; step response; three degrees of freedom; two magnetic levitated fingers; Assembly; Fingers; Force control; Humans; Magnetic levitation; Magnets; Micromanipulators; Precision engineering; Production; Prototypes;
fLanguage
English
Publisher
ieee
Conference_Titel
Micromechatronics and Human Science, 1997. Proceedings of the 1997 International Symposium on
Conference_Location
Nagoya
Print_ISBN
0-7803-4171-6
Type
conf
DOI
10.1109/MHS.1997.768871
Filename
768871
Link To Document