Micro Finger Module with 3 DOF Translational Motion.

• Tanikawa Tamio

  National Institute of Advanced Industrial Science and Technology

• Arai Tatsuo

  Osaka University

Bibliographic Information

Other Title

• 並進３自由度を有するマイクロフィンガーモジュール
• ヘイシン 3ジユウド オ ユウスル マイクロフィンガーモジュール

Abstract

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.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 20 (2), 196-205, 2002

  The Robotics Society of Japan

Keywords

• Micro Manipulation
• Parallel Mechanism
• Translational Motion
• Miniaturization

Details

• CRID: 1390001204726725376
• NII Article ID: 10008213121
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.20.196
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 6107773
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6107773
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed