Title :
Feasibility study of magnetically levitated microhand for machining and assembly
Author :
Nakamura, Tatsuya ; Mori, Yoshikazu ; Kogure, Yoshiyuki ; Akamatsu, Hideki
Author_Institution :
Dept. of Precision Eng., Tokyo Metropolitan Univ., Japan
Abstract :
The second version of the microhand, TMU-MH II, composed of two finger subsystems has been designed. Each endeffector is constrained to a 3-DOF parallel link mechanism to perform machining tasks as well as assembly and is driven directly using magnets for precise positioning and compact design. New magnetic actuators composed of coils and rare-earth permanent magnets are proposed and tested. A feasibility study of machining using the new components, except the link mechanism, are conducted and the results are shown. The new parallel link mechanism is being made now and will be reported on
Keywords :
assembling; electromagnetic actuators; industrial manipulators; machining; magnetic levitation; 3-DOF parallel link mechanism; TMU-MH II; assembly; endeffector; finger subsystems; machining; magnetic actuators; magnetically levitated microhand; permanent magnets; Actuators; Assembly; Coils; Drilling; Machining; Magnetic levitation; Magnetic sensors; Optical design; Permanent magnets; Production;
Conference_Titel :
Micromechatronics and Human Science, 1998. MHS '98. Proceedings of the 1998 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-5130-4
DOI :
10.1109/MHS.1998.745780
