Production of micro mechanisms using a magnetic parallel motion hand

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-worl...

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Hauptverfasser: Nakamura, T., Ohno, S.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Controllability
Fingers
Force control
Force sensors
Humans
Machining
Magnetic levitation
Manipulator dynamics
Micromanipulators
Production
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Ohno, S.
description 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.
doi_str_mv 10.1109/MHS.2001.965234
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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.</description><identifier>ISBN: 9780780371903</identifier><identifier>ISBN: 0780371909</identifier><identifier>DOI: 10.1109/MHS.2001.965234</identifier><language>eng</language><publisher>IEEE</publisher><subject>Controllability ; Fingers ; Force control ; Force sensors ; Humans ; Machining ; Magnetic levitation ; Manipulator dynamics ; Micromanipulators ; Production</subject><ispartof>MHS2001. Proceedings of 2001 International Symposium on Micromechatronics and Human Science (Cat. 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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. 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subjects Controllability
Fingers
Force control
Force sensors
Humans
Machining
Magnetic levitation
Manipulator dynamics
Micromanipulators
Production
title Production of micro mechanisms using a magnetic parallel motion hand
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