Development of a micro-manipulation system having a two-fingered micro-hand
Development of a micro-manipulation system having a two-fingered micro-hand
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DOI：
10.1109/70.744610
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发表时间：
1999-02-01
期刊：
影响因子：
--
通讯作者：
Arai, T
中科院分区：
文献类型：
--
作者：
Tanikawa, T;Arai, T
一种灵巧的微操作系统已经被开发出来，用于组装微机械、操纵生物细胞和进行微手术。我们提出了一种具有两个手指的微手，并使用并联机构设计和建造了一个原型。在本文中，我们讨论了我们的微手的结构及其操作系统。两指微手的结构与其有效工作空间，即两个手指的公共工作空间以及协调控制算法密切相关。考虑到筷子的使用对微手设计的影响，提出了一种基于最小二乘误差的三自由度平移运动在显微镜固定的任务坐标系中的标定方法，开发一种实用的微手操作装置对实现灵巧的微操作具有重要意义。力反馈系统将是此类操作的理想选择。然而，在微操作的情况下，需要一个具有高分辨率和多个传感轴的传感器。目前还没有满足这一需求的传感器。为了在没有力反馈系统的情况下实现微操作，一个可以像真人手操作一样具有自然操作感的操作系统是非常重要的，我们开发了一种单手控制的操作装置。在遥操作中，食指和拇指被用来操纵微观物体。然而，由于主手和微手在运动学上的不同，手指的运动不能直接作为操作信号来移动微手。因此，我们开发了一种操作策略来弥补这种差异，从而提供了易于操作的。两个手指微手和微操作系统的有效性已经通过拾取一个直径2微米的微型玻璃球来进行酸定位。定位精度小于0.1微米，还可以操纵乳胶球、微棒、生物细胞等其他物体。
A dexterous micro-manipulation system has been developed for applications in assembling micro-machines, manipulating biological cells, and performing micro-surgery. We have proposed a micro-hand having two fingers, a prototype of which has been designed and built using parallel mechanisms. In this paper, we discuss the structure of our micro-hand and its operation system. The structure of the two-fingered micro-hand is strongly related to its effective workspace, i.e., the common workspace of its two fingers, as well as its cooperation control algorithms. The design of the micro-hand has been influenced by consideration of the usage of chopsticks, A calibration method based on least-square error is proposed for three degrees of freedom (DOF) translational motion in task coordinates fixed under a microscope.Development of a useful operational device to control the micro-hand is important for achieving dexterous micromanipulation. A force feedback system would be ideal for such manipulation. In the case of micro-manipulation, though, a sensor with high resolution and multiple sensing axes is needed. There is no sensor meeting this demand currently. In order to achieve micro-manipulation without the force feedback system, an operational system which can be controlled with natural operational feeling like manipulation of actual human hand, is important, We have developed an operational device which is controlled by one hand. The forefinger and thumb are used to manipulate microscopic objects in tele-operation. However, due to kinematic dissimilarity between the master and the micro-hand, the motion of the fingers cannot be directly used as operational signals to move the micro-hand. We have therefore developed an operational strategy which compensates for this dissimilarity, thus providing for easy manipulation.The effectiveness of the two-fingered micro-hand and micromanipulation system has been demonstrated by picking up acid positioning a microscopic glass ball, 2 mu m in diameter. The positioning accuracy is less than 0.1 mu m, Other objects, such as a latex ball, micro stick, and biological cell, can be manipulated as well.