二本指マイクロハンドの設計と微細作業

抄録

A prototype two-fingered micro hand is designed and is applied to the actual micro tasks. First, we discuss a concept of a two-fingered micro hand based on human usage of a pair of chopsticks. The two-fingered micro hand should be designed by considering the effective work space, or the common work space of two fingers, as well as the simplicity of its cooperation control for each finger. Our proposed prototype has two 6 DOF parallel mechanisms in series in order to realize similar motion in our chopsticks usage. We applied the prototype to practical micro manipulation tasks, and we succeeded in picking up a glass ball having size of 2 [μm] and placing it in arbitrary position under a microscope by human teleoperation.