A remote micro-manipulator for teleoperation using magnetic levitation

Abstract

This paper presents a new approach to the design of teleoperation systems. Magnetic levitation technology is employed to levitate and move a microhand in three-dimensional space with multi-degrees-of-freedom. The microhand consists of three main parts; cross-shaped mounted magnets, fingers made from two thin ribbons of a copper alloy, and the body together with an electronic circuit and batteries. The fingers are operated by a shape memory alloy (SMA) actuator. For absolute remote control of the microhand, the electronic circuit and batteries for delivering the current to the SMA actuator are put into the body of the microhand so that merely by a distant illumination of several LEDs to it, the fingers can be operated. The results of several experiments are shown to verify the effectiveness of the proposed teleoperation system. The microhand has a total mass of 8.1 g and can grasp and elevate an object with a maximum mass of 1 g. The grasped object can be manipulated within a volume of 29/spl times/29/spl times/26 mm/sup 3/ with a resolution of 0.02 mm in steady state.