New architecture of a hybrid two-fingered micro-nano manipulator hand: Optimization and design
New architecture of a hybrid two-fingered micro-nano manipulator hand: Optimization and design
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DOI：
10.1163/156855308x292565
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发表时间：
2008-01-01
影响因子：
2
通讯作者：
Takubo, Tomohito
中科院分区：
文献类型：
--
作者：
Ramadan, Ahmed;Inoue, Kenji;Takubo, Tomohito
本文提出了一种紧凑而经济的混合双指微纳机械手的综合和设计优化。所提出的机械手由两个串联模块组成，即，上模块和下模块。它们中的每一个都由平行运动链组成，该平行运动链具有作为末端执行器的逐渐变细到非常尖锐的末端的玻璃移液管（1 mm直径和3-10 cm长）。它是由三个压电驱动的棱柱关节在每个并联运动链的三个腿。运动链的每条腿具有棱柱-转动-球铰结构。随着玻璃吸管末端执行器长度的减小，微纳操作手的分辨率和精度得到了提高。对于长长度的玻璃移液管末端执行器，该操纵器作为显微操纵器工作，并且对于短长度，其作为纳米操纵器工作。得到了一种新的运动学逆解的封闭形式。在此基础上，开发了一个仿真程序，以优化选择每个模块的设计参数，使机械手将有一个最大的工作空间。建立了基于参数优化的计算机辅助设计模型，并对其工作空间进行了校核。为了校准的目的，进行了实验工作。给出了微纳混合双指机械手的系统硬件结构和实用雅可比逆矩阵。(C)Koninklijke Brill NV，Leiden and The Robotics Society of Japan，2008.
This paper presents the synthesis and design optimization of a compact and yet economical hybrid two-fingered micro-nano manipulator hand. The proposed manipulator hand consists of two series modules, i.e., an upper and lower modules. Each of them consists of a parallel kinematics chain with a glass pipette (1 mm diameter and 3-10 cm length) tapered to a very sharp end as an end-effector. It is driven by three piezo-electric actuated prismatic joints in each of the three legs of the parallel kinematics chain. Each leg of the kinematics chain has the prismatic-revolute-spherical joint structure. As the length of the glass pipette end-effector is decreased, the resolution and accuracy of the micro-nano manipulator hand is increased. For long lengths of the glass pipette end-effector, this manipulator works as a micro manipulator and for short lengths it works as a nano manipulator. A novel closed-form solution for the problem of inverse kinematics is obtained. Based on this solution, a simulation program has been developed to optimally choose the design parameters of each module so that the manipulator will have a maximum workspace volume. A computer-aided design model based on optimal parameters is built and investigated to check its workspace volume. Experimental work has been carried out for the purpose of calibration. Also, the system hardware setup of the hybrid two-fingered micro-nano manipulator hand and its practical Jacobian inverse matrices are presented. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.