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
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.
日本ロボット学会誌 20(2), 74-83, 2002-03-15
The Robotics Society of Japan