Title :
Design of micro-hand with two magnetic levitated fingers
Author :
Nakamura, T. ; Ando, Ichiyo
Author_Institution :
Dept. of Precision Eng., Tokyo Metropolitan Univ., Japan
Abstract :
A micro-hand with two fingers was designed and a prototype of one finger subsystem with three degrees of freedom was developed to show the validity of the design. The finger is constrained with a 3-DOF link mechanism and is directly driven with three pairs of electromagnets. Friction of the mechanism is negligibly small so that force control is easily realized by regulating the currents of the magnets. The performance of the prototype was evaluated by the application to micro drawing
Keywords :
dexterous manipulators; electromagnetic actuators; force control; magnetic levitation; manipulator kinematics; microactuators; micromanipulators; step response; MAGLEV actuation; electromagnet driven; force control; kinematics; link mechanism; micro drawing; micro-hand; micromanipulator; one finger subsystem prototype; prototype performance; step response; three degrees of freedom; two magnetic levitated fingers; Assembly; Fingers; Force control; Humans; Magnetic levitation; Magnets; Micromanipulators; Precision engineering; Production; Prototypes;
Conference_Titel :
Micromechatronics and Human Science, 1997. Proceedings of the 1997 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-4171-6
DOI :
10.1109/MHS.1997.768871
