Title :
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
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;
Conference_Titel :
Micromechatronics and Human Science, 2000. MHS 2000. Proceedings of 2000 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6498-8
DOI :
10.1109/MHS.2000.903306
