A magnetic parallel motion hand for micro grasping and processes

Author

Nakamura, Tatsuya ; Shimamura, Koichiro ; Andou, Takayuki

Author_Institution

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

Volume

4

fYear

2001

fDate

2001

Firstpage

3920

Abstract

Besides assembling, processes like drilling, cutting, and pasting are required in various operations to human bodies or micro-machines. Force control is essential to those dexterous operations 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 m with a 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 processes.

Keywords

dexterous manipulators; electromagnetic actuators; force control; micromachining; micromanipulators; micropositioning; dexterous operations; drilling; fine force control; magnetic parallel motion hand; magnetic suspension technology; mechanical processes; micro grasping; micro world; parallel motion linkages; pasting; positioning; Assembly; Couplings; Drilling; Fingers; Force control; Force sensors; Grasping; Humans; Magnetic levitation; Prototypes;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933228

Filename

933228