Calibration and basic motion of a micro hand module

Abstract

A dexterous micro-manipulation system is developed for application in assembling micro-machine, manipulating cells, and micro-surgery. We have proposed a concept of a two finger micro-hand, and designed and built a hand module based on parallel mechanisms. The module has 6 degrees of freedom with piezoelectric devices as actuators. A calibration method based on least square error is proposed for 3-DOF translational motion in task coordinates fixed under a microscope. Coordinated motion is generated by both programming control and joystick teleoperation control.<>