New Hybrid Two-Fingered Micro-Nano Manipulator Hand: Optimization and Design

In this paper, the structure of a new compact and yet economical two-fingered micro-nano hybrid manipulator hand is presented. The hybrid manipulator hand consists of two series modules; upper and lower module. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuated prismatic joints in each of the three legs of the parallel kinematics chain. Each leg has the structure of prismatic-revolute-spherical (PRS) joint structure. As the length of the glass pipette end effector is decreased, the resolution and accuracy of the micro-nano manipulator hand is increased. For long lengths of glass pipette end effector, this manipulator works as micro-manipulator and it works as nano-manipulator for short lengths. A solution for the inverse kinematics problem of the complete mechanism is obtained. Based on this solution, a simulation program has been developed to optimally choose the design parameters so that the mechanism will have a maximum workspace volume. 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 and its practical Jacobian is presented.