Two-finger micro hand

The dexterous micro manipulation system is developed for application in assembling micro machines, manipulating cells, and micro surgery. We have proposed a concept of a two-finger micro hand, and designed and built two types of hand modules based on parallel mechanisms. In this paper, we mainly discuss the structure of a two-finger micro hand. The structure of the two-finger micro hand is strongly related to the effective work space, or the common work space of two fingers as well as its cooperation control algorithms. Therefore we design the structure to be suitable for a two-finger micro hand, and made a prototype. And the control system for the micro hand should be robust in some disturbance for accurate position control. A H/sub /spl infin// controller is applied to the control system of the micro hand. The controller has a tuning parameter. By tuning the parameter, the characteristic of the control system is changed like a PID controller. In a general H/sub /spl infin// controller, the characteristics are conservative, however, good stability and fast response are obtained easily in our controller.