Abstract
Micromanipulation techniques contribute to the progress of medical and biological field. We have developed two-fingered microhand which is using the parallel mechanism to realize precise and stable micromanipulation. As previous microhand has small workspace and large size, we aim for development of a two-fingered microhand which has large workspace and compact size. In this paper, we propose a microhand contains a new parallel mechanism. Firstly, we analyze a current parallel mechanism which is similar with designed mechanism. Secondly, we consider the singularity of parallel mechanism. Lastly, we change the order of joints to have compact. We establish an analytic theory for proposed model and then we analyze the workspace. Furthermore, we draw CAD data to realize the system in 3D. Workspace of proposed microhand is larger than previous microhand with respect to simulation results.
