Study of Forces During Microassembly Tasks Using Two-Sensing-Fingers Grippers

被引：25

作者：

Rabenorosoa, Kanty ^{[1
]}

Clevy, Cedric ^{[1
]}

Chen, Qiao ^{[2
]}

Lutz, Philippe ^{[1
]}

机构：

[1] UFC, Automat Control & Micromech Syst Dept, FEMTO ST Inst, CNRS,ENSMM,UBTM,UMR 6174, F-25000 Besancon, France

[2] Jinshan Sci & Technol, Chongqing 401120, Peoples R China

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2012年 / 17卷 / 05期

关键词：

Compliance; gripping forces; lateral contact; microassembly; microrobotics; planar micropart; two sensing fingers; MICROGRIPPER; COMPLIANT; ALIGNMENT;

D O I：

10.1109/TMECH.2011.2131673

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the use of a two-sensing-fingers gripper for grasping planar microparts (smaller than 0.1 mm(3)) is being investigated and the force range during a microassembly sequence is estimated between 0 to 3 mN. An analytical model of their gripping forces in the presence of a lateral contact force is proposed and is compared to Finite Element Analysis. An experimental validation is performed by a proposed setup for a lateral contact force in the range of a few tens to hundreds of micronewtons. Effects of the variation of parameters like the distance of contact, the thickness of the finger, the compliance of the finger, and the preload are investigated. Design statements of microgripper and the applied force range are given in order to achieve automated microassembly tasks.

引用

页码：811 / 821

页数：11

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