Title :
Design Optimization of a Compact 3-DOF Parallel Micro/Nano Finger Manipulator
Author :
Ramadan, Ahmed A. ; Inoue, Kenji ; Arai, Tatsuo ; Takubo, Tomohito
Author_Institution :
Dept. of Syst. Innovation, Osaka Univ.
Abstract :
A compact and yet economical 3-DOF micro/nano finger manipulator based on micro parallel kinematics structure is presented in this paper. It uses three piezo-electric actuators and two types of flexure joints, one is a revolute joint and the other is a ball joint, as its main mechanism. The problem of inverse kinematics between end effector position and actuator displacements along with the Jacobian matrix for this design is derived. A glass needle of 3 to 10 cm length is used as the end effector to increase the workspace of the micro/nano manipulator. As the length of the glass needle end effector is decreased, the resolution and accuracy of the manipulator is increased while the workspace volume is decreased. The design parameters are optimally chosen so that the manipulator will obtain maximum workspace volume. The simulation results illustrate that the proposed model has a large workspace and in the same time it will be small in size using the proposed architecture
Keywords :
Jacobian matrices; dexterous manipulators; end effectors; manipulator kinematics; micromanipulators; piezoelectric actuators; 3-DOF parallel microfinger manipulator; Jacobian matrix; actuator displacements; end effector position; maximum workspace volume; micro parallel kinematics; nanofinger manipulator; piezo-electric actuators; Actuators; Adhesives; Design optimization; End effectors; Fingers; Glass; Kinematics; Manipulator dynamics; Needles; Robotics and automation; Kinematics analysis; Micro/Nano manipulator; PRS joint structure; Parallel mechanisms;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282629
