NDLI: Modelling of a MEMS-based microgripper: application to dexterous micromanipulation

Content Provider	IEEE Xplore Digital Library
Author	Boudaoud, M. Haddab, Y. Le Gorrec, Y.
Copyright Year	2010
Description	Author affiliation: Automatic Control and Micro Mechatronic Systems Department, FEMTO-ST Institute, UFC-ENSMM-UTBM-CNRS, University of Franche-Comté, Besançon, France (Boudaoud, M.; Haddab, Y.; Le Gorrec, Y.)
Abstract	MEMS-based microgrippers with integrated force sensor have proved their efficiency to perform dexterous micromanipulation tasks through gripping forces sensing and control. For force control, knowledge based models are more relevant and gives better physical significance than the use of black box models. However this approach is often limited by many problems commonly encountered in the MEMS (micro electromechanical systems) structures such as: complex architectures, nonlinear behaviors and parameters uncertainties due to fabrication process at the micrometer scale. For these reasons theoretical approaches must be compared with experiments. This paper describes a modelling approach of a MEMS-based microgripper with integrated force sensor while handling micro-glass balls of 80µm diameter. Therefore, a state space representation is developed to couple both the dynamics of the actuation and sensing subsystems of the gripper through the stiffness of the manipulated object. A knowledge based model is obtained for small displacements at the tip of the gripper arms (small gripping forces) and is compared with experimental approaches. Good agreements are observed allowing interesting perspectives for the control.
Starting Page	5634
Ending Page	5639
File Size	1272560
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650553
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grippers Force Actuators Dynamics Laser beams Force sensors
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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