微手模块的校准和基本运动

Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI:10.1109/IECON.1993.339323

T. Arai, R. Larsonneur, Y.M. Jaya

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引用次数: 31

摘要

针对微型机械装配、细胞操作和显微外科手术等方面的应用，研制了一种灵巧的微操作系统。提出了双指微型手的概念，设计并构建了基于并联机构的手部模块。该模块具有6个自由度，采用压电器件作为致动器。提出了一种基于最小二乘误差的显微镜下固定任务坐标下三自由度平移运动标定方法。协调运动是由编程控制和操纵杆遥控控制产生的。

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Calibration and basic motion of a micro hand module

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.<>

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Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics

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