微型操作手及其在缩微制图中的应用

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI:10.1109/ROBOT.2000.844745

T. Nakamura, Y. Kogure, K. Shimamura

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引用次数: 9

摘要

小型机械零件和生物物体的灵巧微操作需要力的控制。我们的研究目标是开发微型操作手。为此，开发了一种带有杠杆机构和磁致动器的手指子系统，并将其应用于接触运动任务。本文分析了该机构和执行机构的特点。设计了一种补偿扰动的运动控制系统，并将其应用于微图形的绘制任务中。

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A micro operation hand and its application to microdrawing

Force control is required in dexterous micro operation of small mechanical parts and biological objects. Our research aims at the development of micro operation hands. For this purpose a finger subsystem with a lever mechanism and magnetic actuators were developed and applied to contact motion task. In this paper, characteristics of the mechanism and actuators are analyzed. A motion control system which compensates for disturbances is designed and applied to drawing tasks of micro figures.

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来源期刊

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

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