Micro-macro tele-manipulation system

Abstract

In recent years, robotic manipulator system have been developed in various fields for vurious purpose. To&.y there are manv systems in practical use. However most ofthem are considred on the assumption that the s i x of slave manipulator is nearly equal to the size of master munipuhtor.We have developed a bilateral controled master-slave manipulator system to manipulute targets of quite different size,frnm our body. We cun not manipulate such size of targets by conventional wa.y. Thus we try to make target's scale be equal to our scale virtuul1.y. In this paper we describe U basic control structure. and report the primary experimentul results.

The systematic design and fabrication of a three-chopstick microgripper

“…One of the objectives of this study is to design a gripper that plays an important role as a part of a microtelemanipulation system [25]. This system is composed of four structural components, as shown in Fig.…”