1A1-C35 Design of a Compact 3-DOF Parallel Micro Finger Manipulator
スポンサーリンク
概要
- 論文の詳細を見る
A compact 3-DOF micro-finger manipulator based on micro parallel kinematics structure is presented in this paper, which uses three piezo-electric actuators and two flexure joints - one is revolute joint and the other is ball joint - as its main mechanism. The problem of inverse kinematics between end effector position and actuator displacements along with the jacobian matrix for this design is derived. A glass needle of 10cm length is used as the end effector to increase the workspace of the micro-manipulator. The design parameters are chosen so that we can obtain a large workspace volume as much as possible. The simulation results illustrates that the proposed model has a large workspace and in the same time small in size.
- 一般社団法人日本機械学会の論文
著者
-
Takubo Tomohito
Department Of Systems Innovation Graduate School Of Engineering Science Osaka University
-
Arai Tatsuo
Department Of Systems Innovation Graduate School Of Engineering Science Osaka University
-
Arai Tatsuo
Department Of Applied Physics Nagoya University
-
RAMADAN Ahmed
Department of Systems Innovation, Graduate School of Engineering Science, Osaka University
-
Ramadan Ahmed
Department Of Systems Innovation Graduate School Of Engineering Science Osaka University
-
Arai Tatsuo
Division Of System Innovations Graduate School Of Engineering Science Osaka University
-
Inoue Kenji
Department Of Bio-system Engineering Graduate School Of Science And Engineering Yamagata University
関連論文
- Generic First-Order Orientation Transition of Vortex Lattices in Type II Superconductors
- 2 GATA3 is Essential for Tie2 Expression and its signaling in Endothelium(Young Investigator's Award for International Students Finalists Lecture (YIA International),Special Program,The 72nd Annual Scientific Meeting of the Japanese Circulation Society)
- PE-553 Diagnostic Value of Coefficient of Variance in Myocardial Perfusion Imaging with ^Tc-tetrofosmin for coronary Artery Disease(Nuclear cardiology(06)(I),Poster Session(English),The 72nd Annual Scientific Meeting of the Japanese Circulation Socie
- Miniaturized Vision System for Microfluidic Devices
- Photochemistry and photophysics of stilbene dendrimers and related compounds
- Relative Induction of mRNA for HMG CoA Reductase and LDL Receptor by Five Different HMG-CoA Reductase Inhibitors in Cultured Human Cells
- Macroscopic typing with wall stricture sign may reflect tumor behaviors of advanced colorectal cancers
- Correlation Between the Depth of Invasion and Hardness of Resected Gastric Carcinoma Specimens Using a New Ultrasound Tactile Sensor
- PE-456 Prognostic Value of Pentaxin3 in Patients with Chest Pain(PE077,ACS/AMI (Clinical/Diagnosis) 1 (IHD),Poster Session (English),The 73rd Annual Scientific Meeting of the Japanese Circulation Society)
- PJ-142 Release of the Long Pentraxin PTX3 in Vulnerable Plaques in vivo(Acute coronary syndrome, basic/clinical-7, The 71st Annual Scientific Meeting of the Japanese Circulation Society)
- 1 Establishment of Pentraxin 3 (PTX3) ELISA System for the Evaluation of Acute Coronary Syndrome(New Evidence of Coronary Artery Disease-Pathogenesis, Diagnosis and Therapy, The 71st Annual Scientific Meeting of the Japanese Circulation Society)
- Adiabatic Intramolecular Hydrogen Atom Transfer in 2-[2-(2-Pyrrolyl)ethenyl]pyridine
- Observation of a Novel Fluorescent Dimer of Zinc Tetrasulphonatophthalocyanine
- Photoisomerization and Photocyclization Reactions of 1-Styrylanthracene
- Effects of Substitution of a-Anthryl Group at the N=N and N=C Unsaturated Bonds on Their Photoisomerization in the Triplet State
- Effects of Substitution with Positionally Isomeric Anthryl Groups on the One-Way Isomerization
- Intermediates for Photoisomerization of a Butenylnaphthalene in the Presence of Electron Acceptors as Studied by Solvenet Dependence of Magnetic Field Effects
- Effects of Salt on Isomerization of Stilbene Cation Radicals. Direct Observation of their Cis→Trans Conversion
- Novel Solvent Effect on Highly Selective Photochemical Isomerization of 2-[2-(2-Pyrrolyl)ethenyl]quinoxaline
- The Photochemical Specific Isomerization of Dendritic Stilbenes
- Trans→cis One-way Photoisomerization of an Olefin Substituted with an Indole and a Pyridine Ring. Effect of Intramolecular Hydrogen Bond
- Preferential Association of 7-Azaindole Dimer in Acetonitrile Studied by Mass Spectrometry
- FRS-028 Measurement of PTX3 Combined with 64-Slice CT Angiography Reduces the False Positive Rate for the Diagnosis of Coronary Artery Disease(FRS6,Non-invasive Assessment of Coronary Lesions (I),Featured Research Session (English),The 73rd Annual Scienti
- CLINICAL INVESTIGATION OF SELECTIVE CORONARY ANGIOGRAPHY IN COMPLEX CONGENITAL HEART DISEASE : Congenital heart disease : FREE COMMUNICATIONS (Abstract) : 45 Annual Scientific Meeting, Japanese Circulation Society
- SELECTIVE CORONARY ANGIROGRAPHY IN KAWASAKI DISEASE AND SURGICAL INDECATION : Cardiac Surgery II, Hemodialysis, Hypertension II : IInd Auditorium : Proceedings of the 43rd Annual Meeting of the Japanese Circulation Society, Tokyo, 1979
- New Architecture of a Hybrid Two-Fingered Micro-Nano Manipulator Hand : Optimization and Design
- Serine Acetyltransferase Involved in Cysteine Biosynthesis from Spinach : Molecular Cloning, Characterization and Expression Analysis of cDNA Encoding a Plastidic Isoform
- Photobleaching of Fluorescent Probe in Microfluorometry and Detection of Active Oxygen Species
- Triplet Sensitized Laser Flash Photolysis of BNN3, Caged Nitric Oxide
- Effect of Acetonitrile Completely Suppressing Trans-to-cis Photoisomerization of Styrylpyrene Substituted with a Nitro Group
- Effect of Substituents on the Equilibrium between Trans and Perpendicular Conformers in the Triplet Excited State of Substituted Styrylpyrenes
- Long-term Outcome of Systemic Cyclosporine Treatment Following Penetrating Keratoplasty
- Long-Term Effects of Topical Cyclosporine A Treatment after Penetrating Keratoplasty
- Photochemical Reactions of α-Bromoacetylarenes Studied by Product Analysis and Laser Flash Photolysis
- Photoinduced Intramolecular Hydrongen Atom Transfer of N-Salicylideneaniline in the Triplet State
- Contrast of Kikuchi Bands above and below the Critical Voltage
- HEMODYNAMICS AFTER MODIFIED FONTAN'S OPERATION : IS THE RIGHT VENTRICLE NECESSARY FOR SURVIVAL? : Congenital Heart Disease, Kawasaki Disease : FREE COMMUNICATIONS (VI) : PROCEEDINGS OF THE 49th ANNUAL SCIENTIFIC MEETING OF THE JAPANESE CIRCULATION SOCIETY
- AORTO-CORONARY BYPASS GRAFT FLOW MEASUREMENT AND QUANTITATIVE LEFT VENTRICULAR WALL MOTION ANALYSIS : Ischemic Heart Disease (II), Coronary Circulation : II : 48 Annual Scientific Meeting, Japanese Circulation Society
- Hand Position Control of Humanoid Robots for Stable Manipulation(Grasping(OS),Session: MP2-A)
- The First Synthesis of Stilbene Dendrimers and their Photochemical transcis Isomerization
- Ocular Factors Relevant to Keratoepitheliopathy in Glaucoma Patients With and Without Diabetes Mellitus
- Morphological Study of Corneal Endothelium and Corneal Thickness in Pseudoexfoliation Syndrome
- Influence of Dorzolamide on Corneal Endothelium
- Corneal Endothelial Cell Changes Twenty Years After Penetrating Keratoplasty
- The Corneal Endothelium and Thickness in Type II Diabetes Mellitus
- A 10-Year Review of Penetrating Keratoplasty
- Cardiac Surgery of Eight Children with Kawasaki Disease (Mucocutaneous Lymph Node Syndrome)
- Ladder Climbing Method for the Limb Mechanism Robot ASTERISK
- Application of a 'limb mechanism' robot to rescue tasks
- The Photoinduced Hydrogen Atom Transfer and trans-cis Isomerization of the C=C Double Bond in 1-(1-Hydroxy-2-naphthyl)-3-(1-naphthyl)-2-propen-1-one and Related Compounds Studied Using Nanosecond Time-Resolved Infrared Spectroscopy
- One-Way Photoisomerization of Dienes Substituted by an Anthracene Nucleus
- Novel Finding of the Effect of Triple Bond on the Photochemical cis-trans Isomerization of C=C Double Bond
- 2P1-B13 Detection of Screws on Metal Ceiling Structures for Dismantling Interior of Building
- Dynamic Rolling-Walk Motion by the Limb Mechanism Robot ASTERISK
- 2A1-K01 Automated Cell Supply Module Cell Detection and Control in a Micro-chip
- The Effect of Substitution of 3-Perylenyl Group, an Aromatic Nucleus with a Very Low Triplet Energy, on Photochemical Isomerization of the Unsaturated Bond. Direct Observation of Triplet State Isomerization of a Styrene Derivative
- Direct Evidence of the Hydrogen Atom Transfer in Methyl Salicylate in the Triplet State
- CONTROL OF PHOTOCHEMICAL REACTION OF HEMIINDIGO DERIVATIVES BY INTRAMOLECULAR HYDROGEN BONDING AND THE APPLICATION TO PHOTOCHROMIC DYE
- Novel Photochromic Dye Based on Hydrogen Bonding
- Factors Determining the Adiabatic or the Deabatic Pathway of the Photoisomerization of Unsaturated Bonds
- Fluorescence Studies on Binary Aromatic Compounds by Utilizing the Intermolecular Quadruple Hydrogen Bonding
- Hydrogen Atom Transfer of 5-Hydroxyflavone in the Excited Triplet State
- Effect of Formyl Group on Photoinduced Hydrogen Atom Transfer and cis-trans Isomerization of 2 [2-(2-Pyrrolyl) ethenyl] pyridine
- 1P1-L07 Dismantling System by Human Robot Collaboration : 2nd Report Preliminary Experiment
- Novel Insight into the Photochromism and Thermorchomism of Hydrogen Bonded Schiff Bases
- Photoisomerization and Fluorescence Properties of Hemiindigo Compounds Having Intramolecular Hydrogen Bonding
- 1A1-C35 Design of a Compact 3-DOF Parallel Micro Finger Manipulator
- 1A1-C27 A Vision System for Cell Manipulation Process
- A Possible Fusion Reactor
- Control of the Photoisomerization Mode of Carbon-Carbon Double Bond by Intramolecular Hydrogen Bond;One-way Photoisomerization of 2'-Hydroxychalcone Induced by Adiabatic Intramolecular Hydrogen Atom Transfer
- Laser Flash Photolysis Study on Hydrogen Atom Transfer of 2-(2-Hydroxyphenyl)benzoxazole and 2-(2-Hydroxyphenyl)benzothiazole in the Triplet Excited State
- Direct Observation of the Photoinduced Hydrogen Atom Transfer in 2'-Hydroxychalcone
- Heart Fatty Acid-Binding Protein Offers Similar Diagnostic Performance to High-Sensitivity Troponin T in Emergency Room Patients Presenting With Chest Pain
- The use of serum bepridil concentration as a safe rhythm control strategy in patients with atrial tachyarrhythmias
- Mechanistic approach to the sensitization process of aromatic ketones in the isomerization between norbornadiene and quadricyclane.
- Highly selective cis-trans photoisomerization of 1-pyrenylethylenes: Relations between the modes of isomerization and potential energy surfaces.
- Behavior of the excited cis singlet state of a one-way isomerizing olefin. Further insight into potential energy surfaces of 1-(3,3-dimethyl-1-butenyl)pyrene.
- A new method for conformational analysis by photoelectron spectroscopy with application to alkyl-substituted styrenes.
- Mechanism of Cis-Trans Isomerization of Fluoranthenylethylenes on Direct Irradiation.
- Photosensitized cis-trans isomerization of .BETA.-alkylstyrenes.
- Triplet Intermediates in Cis-Trans Photoisomerization of 3-Chrysenylethylenes.
- Mechanism of Production of Singlet Oxygen on Photoexcitation of Drugs Inducing Photosensitivity.