一种利用磁悬浮进行遥操作的遥控微型机械手

M. B. Khamesee, T. Nakamura, N. Kato, Shuxiang Guo, K. Mizutani
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引用次数: 1

摘要

本文提出了一种远程操作系统设计的新方法。采用磁悬浮技术使微手在多自由度的三维空间中悬浮和移动。微手主要由三个部分组成;十字形安装磁铁,手指由两根铜合金细带制成,机身上有电子电路和电池。手指由形状记忆合金(SMA)致动器操作。为了实现对微手的绝对远程控制,将电子电路和向SMA致动器输送电流的电池放入微手体内,仅通过几个led的远距离照明就可以操作手指。实验结果验证了所提遥操作系统的有效性。微手的总质量为8.1 g,可以抓取和举起最大质量为1g的物体。被抓物体可在29/spl倍/29/spl倍/26 mm/sup /的体积内被操纵,稳态分辨率为0.02 mm。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A remote micro-manipulator for teleoperation using magnetic levitation
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.
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