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

页码：1036 / 1041

页数：6

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