NDLI: Micropeg manipulation with a compliant microgripper

Content Provider	IEEE Xplore Digital Library
Author	Woo Ho Lee Byoung Hun Kang Young Seok Oh Stephanou, H. Sanderson, A.C. Skidmore, G. Ellis, M.
Copyright Year	2003
Description	Author affiliation: Center for Autom. Technol., Rensselaer Polytech. Inst., Troy, NY, USA (Woo Ho Lee; Byoung Hun Kang; Young Seok Oh; Stephanou, H.; Sanderson, A.C.)
Abstract	This paper presents analytical, simulation and experimental results from a study of compliant insertion tasks in microassembly. Gripper compliance is desirable to compensate for positional errors and to prevent the breakage of a gripper during assembly tasks. An analytical model is derived to study the motion and force profiles during compliant insertion. Thermal bimorph microgrippers with a compliant tip are designed and fabricated using a silicon DRIE process, and are mounted on a precision motion stage. A series of micropeg manipulation tasks such as pick up, rotation, and insertion are successfully performed. Finally, a comb structure is integrated in the gripper to calculate insertion force by measuring the deflection of a gripper, which is essential for automated microassembly.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	3213
Ending Page	3218
File Size	399025
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1242085
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grippers Force measurement Microassembly Assembly Analytical models Force sensors Motion analysis Silicon Thermal force Equations
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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