並進3自由度を有するマイクロフィンガーモジュール Micro Finger Module with 3 DOF Translational Motion

この論文にアクセスする

この論文をさがす

著者

抄録

A 3 degree-of-freedom micro finger, that has pure translational motion, is proposed. The finger will be applied in the two finger micro manipulation in order to manipulate micrometer size objects dexterously. The possible configurations are considered based on the group theory. Then, the optimal configuration is proposed by taking simple machining of joint structures into account. A kinematics analysis is made in order to describe the relation between end effector and actuator displacements. The design parameters are examined by evaluating the force capability of the actuator and the work space volume. Basic experiments are made by a prototype finger module that show excellent micro motion capability. A smaller hand mechanism is preferable in order to keep high accuracy, even through temperature and humidity change. Then a small-sized finger module is designed based on the prototype. A photo forming system is used for fabrication of the small-sized finger module. High accuracy is confirmed in the new finger module.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 20(2), 74-83, 2002-03-15

    The Robotics Society of Japan

参考文献:  10件中 1-10件 を表示

各種コード

  • NII論文ID(NAID)
    10008213121
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    6107773
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  NDL  J-STAGE 
ページトップへ