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Micro-Nano Two-Fingered Hybrid Manipulator Hand

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5 Author(s)
Ahmed A. Ramadan ; Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, JAPAN, ramadan@arai-lab.sys.es.osaka-u.ac.jp ; Kenji Inoue ; Tatsuo Arai ; Tomohito Takubo
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The description of the architecture for a new compact but yet economical micro-nano two-fingered hybrid manipulator hand is presented. This hand consists of two 3-DOF parallel mechanisms, upper and lower, connected in series. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuators in the three legs of the parallel kinematics chain. Each leg has the structure of prismatic-revolute-spherical (PRS) joint structure. For long lengths of glass pipette end effector, this hand can be used as micro-manipulator and it can be used as nano-manipulator for short lengths. Based on the inverse kinematics solution, a simulation program is built to optimally choose the design parameters. A proposed computer aided design (CAD) model based on optimal parameters is built and realized. Also the system hardware setup of the micro-nano hand, its calibrated practical Jacobian inverse matrices, its calibrated workspace volume, and its error analysis are presented.

Published in:

Micro-NanoMechatronics and Human Science, 2007. MHS '07. International Symposium on

Date of Conference:

11-14 Nov. 2007