Development of a high-speed, high-accuracy robot hand for micromanipulation

This study reports the development of a high-speed, high-accuracy robotic hand with the aim of implementing flexible and fast micromanipulation. The robotic hand, which has two fingers, each with three degrees of freedom, was tested for rapidity and accuracy to determine whether it was capable of micromanipulation. Our end goal was to enable it to handle smaller objects than humans can, more dexterously and quickly than them, by incorporating accuracy into the design of prevalent high-speed robotic hands. The size of the target objects to be manipulated was of the order of submillimeter. With regard to rapidity, we showed that each joint of the hand exhibited the same speed of movement as conventional high-speed robotic hands. In order to verify accuracy, we showed that the positioning accuracy of the fingertip was 10 [μm] at 0.20 [s] when all joints were actuated π/2 [rad], which was sufficient to manipulate objects of submillimeter size. Hence, the proposed robotic hand has the potential to manipulate micrometer-sized objects if combined with high-resolution visual feedback systems.

[1]  Fumihito Arai,et al.  Adhesion-type micro end effector for micromanipulation , 1997, Proceedings of International Conference on Robotics and Automation.

[2]  Stéphane Régnier,et al.  Manipulation of micro-objects using adhesion forces and dynamical effects , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[3]  Y. Matsuoka,et al.  Mechanisms of the Anatomically Correct Testbed Hand , 2013, IEEE/ASME Transactions on Mechatronics.

[4]  Paul Ciprian Patic,et al.  THE BARRETTHAND GRASPER - PROGRAMMABLY FLEXIBLE PART HANDLING AND ASSEMBLY , 2006 .

[5]  Kenji KANEKO,et al.  Humanoid robot HRP-3 , 2004, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Tatsuo Arai,et al.  Development of a micro-manipulation system having a two-fingered micro-hand , 1999, IEEE Trans. Robotics Autom..

[7]  Bhaskar Ghosh,et al.  Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper , 2015 .

[8]  Gianluca Palli,et al.  Development of UB Hand 3: Early Results , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[9]  Stephen C. Jacobsen,et al.  Design of the Utah/M.I.T. Dextrous Hand , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[10]  Yoshiro Imai,et al.  Development of a high-speed multifingered hand system and its application to catching , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[11]  Yajun Lu,et al.  A review of micro-devices assembly techniques and technology , 2016 .

[12]  Niklas Bergström,et al.  High-performance robotic contour tracking based on the dynamic compensation concept , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[13]  A. Ashkin.  Acceleration and trapping of particles by radiation pressure , 1970 .

[14]  Toshio Fukuda,et al.  Micromanipulation using a focused ultrasonic standing wave field , 2000 .

[15]  John J. Craig,et al.  Articulated hands: Force control and kinematic issues , 1981 .

[16]  Fumihito Arai,et al.  Prototyping design and automation of micro/nano manipulation system , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[17]  Hong Liu,et al.  DLR-Hand II: next generation of a dextrous robot hand , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[18]  George A. Bekey,et al.  Control architecture for the Belgrade/USC hand , 1990 .

[19]  Alin Albu-Schäffer,et al.  The DLR hand arm system , 2011, 2011 IEEE International Conference on Robotics and Automation.

[20]  Takashi Maeno,et al.  Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[21]  Metin Sitti,et al.  Gecko-inspired controllable adhesive structures applied to micromanipulation , 2012 .

[22]  W. Cleghorn,et al.  Microassembly of 3-D microstructures using a compliant, passive microgripper , 2004, Journal of Microelectromechanical Systems.

[23]  T. Mouri,et al.  Anthropomorphic Robot Hand : Gifu Hand III , 2002 .

[24]  Robert O. Ambrose,et al.  Robonaut 2 - The first humanoid robot in space , 2011, 2011 IEEE International Conference on Robotics and Automation.

[25]  Tsukasa Ogasawara,et al.  Development of the NAIST-Hand with Vision-based Tactile Fingertip Sensor , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.