Title :
Novel manipulator for micro object handling as interface between micro and human worlds
Author :
Sato, Tomomasa ; Koyano, Koichi ; Nakao, Masayuki ; Hatamura, Yotaro
Author_Institution :
Tokyo Univ., Japan
Abstract :
A manipulator system for micro-object handling is presented and the design concepts used for system construction are described. The manipulator consists of two robots (right- and left-hand robots) and a optical stereo microscope. The right-hand robot has a working tool and a three-axis force sensor and is equipped with two orientational DOF; the left-hand one has a work table and is equipped with two orientational and three translational DOF. This manipulator system has a wide range of translational and orientational motions. Since all axes of the orientational DOF intersect at the tip of the tool, and this tip coincides with the focus area, micro-object handling operations can subsequently be executed within the focus area. A micro air turbine (diameter = 502 μm) comprised of three parts was successfully assembled by the manipulator system. A sucking tool composed of a drawn glass pipe and vacuum pump were used for its assembly
Keywords :
manipulators; assembly; manipulator; micro air turbine; micro-object handling; optical stereo microscope; orientational motions; three-axis force sensor; translation motion; Fabrication; Humans; Manipulators; Mechanical engineering; Microscopy; Orbital robotics; Production systems; Robotic assembly; Robots; Very large scale integration;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583862