Fig. 5: Manipulation experiments of various objects and promising application scenarios of our PRH.
From: Piezo robotic hand for motion manipulation from micro to macro
a The selected ten typical manipulated objects. b Photos of manipulating three flatbed plates P1–P3. c Photos of manipulating three typical cylindrical objects C1–C3. d Photos of manipulating four typical spherical objects S1–S4. Note: the details about shapes, materials, and dimensions of these objects are listed in Supplementary Table 2. e Using the PRH to manipulate plate for constructing 2L + 1R micro/nano motion platform, which can serve for defect detection in semiconductor manufacturing and micro observation in biomedical fields. f Using the PRH to manipulate cylindrical objects for constructing 1L + 1R posture adjustment device, which can carry the imaging device to achieve focusing. g Using the PRH to manipulate spherical objects for constructing 3R motion scanning platform, which can carry the camera to achieve visual scanning. Note: the complete experimental records are presented in Supplementary Movie 8. h The packed PRH is stalled on a 6-DOF mechanical arm to extend manipulation DOFs and implement in-situ motion manipulation. i Diagram of the packaged PRH installing four levers and needles on the fingertips for grasping tasks. j Experimental setup for grasping a small sphere and gravel. k Video sequences for grasping small spheres and gravel from Supplementary Movie 10.
