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A hybrid-type micro-gripper with an integrated force sensor

A hybrid-type micro-gripper with an integrated force sensor

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Abstract A new hybrid-type micro-gripper that uses an
integrated force sensor to control the gripping force was
developed for handling micro-objects. The micro-gripper
is composed of a piezoelectric multilayer bender for actuating
the gripper fingers, silicon fingertips fabricated by
use of silicon-based micromachining, and supplementary
supports. The micro-gripper is referred to as a hybrid-type
micro-gripper because it is composed of two main components:
micro-fingertips fabricated using micromachining
technology to integrate a very sensitive force sensor for
measuring the gripping force, and piezoelectric gripper
finger actuators that are capable of large gripping forces
and moving strokes. A systematic design approach was
applied to the design of each of components of the developed
gripper, which made it possible to establish the
functional requirements and design parameters of the
micro-gripper. The micro-gripper was installed on a
manual manipulator to assess its performance in tasks
such as moving micro-objects from one position to a desired
position. The gripping force signal was found to have
a sensitivity of 667 lN/V and several micro-objects were
successfully moved (grasped and released) with the developed
gripper. It was found during the testing experiments
that the frictional forces between the working plane
and the micro-object could be utilized to facilitate the
release of micro-objects from the micro-gripper.
Abstract A new hybrid-type micro-gripper that uses an
integrated force sensor to control the gripping force was
developed for handling micro-objects. The micro-gripper
is composed of a piezoelectric multilayer bender for actuating
the gripper fingers, silicon fingertips fabricated by
use of silicon-based micromachining, and supplementary
supports. The micro-gripper is referred to as a hybrid-type
micro-gripper because it is composed of two main components:
micro-fingertips fabricated using micromachining
technology to integrate a very sensitive force sensor for
measuring the gripping force, and piezoelectric gripper
finger actuators that are capable of large gripping forces
and moving strokes. A systematic design approach was
applied to the design of each of components of the developed
gripper, which made it possible to establish the
functional requirements and design parameters of the
micro-gripper. The micro-gripper was installed on a
manual manipulator to assess its performance in tasks
such as moving micro-objects from one position to a desired
position. The gripping force signal was found to have
a sensitivity of 667 lN/V and several micro-objects were
successfully moved (grasped and released) with the developed
gripper. It was found during the testing experiments
that the frictional forces between the working plane
and the micro-object could be utilized to facilitate the
release of micro-objects from the micro-gripper.

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Categories:Types, Research
Published by: Ghita Alexandru Mihai on Mar 28, 2013
Copyright:Attribution Non-commercial

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03/28/2013

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