Pneumatic micro hand and miniaturized parallel link robot for micro manipulation robot system

被引：44
|
作者：
Konishi, Satoshi [1 ]
Nokata, Makoto [2 ]
Jeong, Ok Chan [3 ]
Kusuda, Shinya [4 ]
Sakakibara, Tsuyoshi [4 ]
Kuwayama, Wiyuki [4 ]
Tsutsumi, Hidetoshi [2 ]
机构：
[1] Ritsumeikan Univ, Dept Micro Syst Technol, 1-1-1 Nojihigashi, Shiga 5258577, Japan
[2] Ritsumeikan Univ, Dept Robot, Shiga 5258577, Japan
[3] Ritsumeikan Univ, Ctr Promot COE Program, Shiga 5258577, Japan
[4] Ritsumeikan Univ, Grad Sch Sci & Engn, Shiga 5258577, Japan
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
关键词：
pneumatic PDMS micro hand; micro manipulation; miniaturized parallel link; micro surgery;
D O I：
10.1109/ROBOT.2006.1641846
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper reports the pneumatic PDMS micro hand as an endeffector of robot and miniaturized parallel link robot (guide robot) for manipulating a tiny and delicate object. Micro finger structure for the micro hand consists of bonded two films having different stiffness. Balloon structures are designed between the two films. Swelling of the balloon structure by applied pressure generates bending motion of the micro finger. This combination of the micro hand is based on the human being's finger and/or hand. The guide robot has several design specifications such as multi degrees of freedom joint as a human, small size, highly accurate directional control and water/sterilization proof. Micro Manipulation Robot System is developed by assembling the micro finger with two or three degree of freedom, the guide robot and VR (Virtual Realty) interface device. The hybrid motion and the manipulation of a single egg (phi 1mm) of fish and a hair (phi 100 mu m) in macro world is successfully realized.
引用
收藏
页码：1036 / 1041
页数：6
相关论文
共 50 条
  • [1] Study on a Pneumatic Inspection Micro Robot
    Yu, Lianzhi
    [J]. COMPUTER AND INFORMATION TECHNOLOGY, 2014, 519-520 : 1329 - 1332
  • [2] Pneumatic micro finger as endeffecter of robot
    Jeong, OK
    Kusuda, S
    Sakakibara, T
    Konishi, S
    Nokata, M
    [J]. PROCEEDINGS OF THE 2005 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE: FROM MICRO & NANO SCALE SYSTEMS TO ROBOTICS & MECHATRONICS SYSTEMS, 2005, : 145 - 148
  • [3] Development of micro-vision system for manipulation robot
    Sun, LN
    Chen, LG
    Rong, WB
    [J]. MEMS/MOEMS TECHNOLOGIES AND APPLICATIONS, 2002, 4928 : 127 - 132
  • [4] Embedded control system for miniature robot for micro manipulation
    Sun, LN
    Qin, L
    Li, MT
    Feng, T
    [J]. PROCEEDINGS OF THE THIRD INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION SCIENCE AND TECHNOLOGY, VOL 3, 2004, : 932 - 937
  • [5] Control of a macro-micro robot system using manipulability of the micro robot
    Quan, Bui Trong
    Huang, Jian
    Harada, Minoru
    Yabuta, Tetsuro
    [J]. JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 2006, 49 (03) : 897 - 904
  • [6] Micro assembly robot system
    Tomino, Y
    Munesawa, Y
    Kajihara, Y
    Osaki, H
    [J]. ICIM' 2004: PROCEEDINGS OF THE SEVENTH INTERNATIONAL CONFERENCE ON INDUSTRIAL MANAGEMENT, 2004, : 152 - 156
  • [7] The development of a micro robot system for robot soccer game
    Kim, KH
    Ko, KW
    Kim, JG
    Lee, SH
    Cho, HS
    [J]. 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997, : 644 - 649
  • [8] Micro parallel robot MIPS for medical applications
    Merlet, JP
    [J]. ETFA 2001: 8TH IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, VOL 2, PROCEEDINGS, 2001, : 611 - 619
  • [9] Optimal design for the micro parallel robot MIPS
    Merlet, JP
    [J]. 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 1149 - 1154
  • [10] Micro Robot / Bio Robot
    Ichikawa, Akihiko
    Fukuda, Toshio
    [J]. JAPANESE JOURNAL OF ARTIFICIAL ORGANS, 2018, 47 (01): : 46 - 51
12345