Production of micro mechanisms using a magnetic parallel motion hand

Micromanipulators are used for production of small mechanisms. Its positioning accuracy is less than 1 /spl mu/m but it lacks in dexterous force controllability. Appropriate tools are required. In this paper, its use for manipulation of micro objects in the similar way as human does in the mini-world is investigated A novel mechanisms and controls of a micro operation hand using magnetic suspension technology was used. The hand has several features; force control without force sensors and three dimensional straight-line motion of the finger suitable for machining processes. The problem is how to realize 6-DOF motions of an object grasped. We realize rolling and yawing motions by rolling the fingers and a pitching motion by pushing the end portion of the object to a block fixed in the environment. Dynamics of object manipulation and its experimental are investigated.