UM  > Faculty of Science and Technology  > DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
A new compliant microgripper with integrated position and force sensing
Xu Q.
2013-09-16
Conference NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Mechatronics for Human Wellbeing
Source Publication2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Pages591-596
Conference DateJUL 09-12, 2013
Conference PlaceWollongong, AUSTRALIA
Abstract

This paper presents the design and development of a new compliant microgripper with integrated position and force sensing capabilities. The gripper mechanism is devised and verified by performing finite element analysis (FEA), and it is fabricated using the wire-electrical discharge machining (EDM) process. The gripper is driven with a piezoelectric stack actuator (PSA) and the position and force feedback are realized via two groups of strain gauges, which provide the (2σ) resolution of 0.22 μm and 1.02 mN, respectively. With the calibrated sensors, the static and dynamic performances of the gripper are characterized. Moreover, a position and force switching control scheme is implemented to demonstrate the effectiveness of the microgripper system for grasp-hold-release operation of a copper wire of 300-μm diameter. The developed microgripper system is capable of conducting microassembly of micro objects along with both position and grasping force regulated. © 2013 IEEE.

DOI10.1109/AIM.2013.6584156
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaEngineering ; Robotics
WOS SubjectEngineering, Electrical & Electronic ; Robotics
WOS IDWOS:000328705300098
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Cited Times [WOS]:14   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUniversidade de Macau
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Xu Q.. A new compliant microgripper with integrated position and force sensing[C],2013:591-596.
APA Xu Q..(2013).A new compliant microgripper with integrated position and force sensing.2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013,591-596.
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