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Proceedings Paper

Development of two arm micromanipulator for handling and assembling of minute objects in fixed view by use of pantograph mechanisms
Author(s): Mikio Horie; Daiki Kamiya; Masahiro Kouno; Naoto Mochizuki; Yoshimichi Yoda; Akiharu Higaki; Makoto Nakamura
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Paper Abstract

In the present paper, two arm micromanipulator for handling and/or assembling of minute objects in a fixed view by use of a pantograph mechanism is proposed and its performance is discussed. The pantograph mechanism has three parallelogram in the mechanism. In case of the pantograph mechanism, when two input actuators of the pantograph mechanism has a linear motion, one of the output link of the mechanism has a motion with constant orientation. And when an input link of the mechanism has a circular motion and when the output link has an endeffector with same length of a radius of the circular motion, the top position of the endeffector does not move. Therefore, if we use the manipulator as cell treatment manipulator, the view of motion area of the top of the endeffector does not move, only the direction of the output link of the endeffector can change like a circular motion. This motion is very useful for treating cells, electric micro devices, etc. Then, first, the motion principle and the motion function of the mechanism are explained. Second, the performance of the manipulator and, especially, the positioning precision of the manipulator are discussed.

Paper Details

Date Published: 10 October 2007
PDF: 8 pages
Proc. SPIE 6715, Optomechatronic Actuators and Manipulation III, 67150J (10 October 2007); doi: 10.1117/12.754424
Show Author Affiliations
Mikio Horie, Tokyo Institute of Technology (Japan)
Daiki Kamiya, Tokyo Institute of Technology (Japan)
Masahiro Kouno, NISCA Co., Ltd. (Japan)
Naoto Mochizuki, NISCA Co., Ltd. (Japan)
Yoshimichi Yoda, NISCA Co., Ltd. (Japan)
Akiharu Higaki, NISCA Co., Ltd. (Japan)
Makoto Nakamura, Tokyo Medical and Dental Univ. (Japan)

Published in SPIE Proceedings Vol. 6715:
Optomechatronic Actuators and Manipulation III
Yves Bellouard; Yukitoshi Otani; Kee S. Moon, Editor(s)

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