A magnetic suspension parallel motion hand and its application to micro processes

Author

Nakamura, Tatsuya ; Shimamura, Kohei ; Ando, Takayuki

Author_Institution

Dept. of Precision Eng., Tokyo Metropolitan Univ., Japan

fYear

2000

fDate

2000

Firstpage

157

Lastpage

162

Abstract

Force control is effective to dexterous operations for a human body or mechanical parts even in the micro world. For this purpose, a prototype micro operation hand with two fingers constrained to parallel motion linkages was developed. It uses magnetic suspension technology so that fine force control without force sensor is realized. The accuracy of positioning is a few μm with the range of tens mm. The accuracy of force control is 30 mgf with a range of hundreds gf. The effectiveness of the proposed hand was verified by the application to various micro operations including mechanical

Keywords

dexterous manipulators; electromagnetic actuators; force control; industrial manipulators; microassembling; micromanipulators; micropositioning; air-core coil; constrained fingers; dexterous operations; displacement sensor; end effector; fine force control; magnetic actuator; magnetic suspension parallel motion hand; microassembly; parallel motion linkages; permanent magnet; positioning accuracy; prototype micro operation hand; two-finger system; Assembly; Chemical technology; Couplings; Etching; Fingers; Force control; Force sensors; Humans; Magnetic levitation; Prototypes;

fLanguage

English

Publisher

ieee

Conference_Titel

Micromechatronics and Human Science, 2000. MHS 2000. Proceedings of 2000 International Symposium on

Conference_Location

Nagoya

Print_ISBN

0-7803-6498-8

Type

conf

DOI

10.1109/MHS.2000.903306

Filename

903306