Design and highly accurate 3D displacement characterisation of monolithic SMA micro-gripper using computer vision

被引:1
作者
Bellouard, Y [1 ]
Sulzmann, A [1 ]
Jacot, J [1 ]
Clavel, R [1 ]
机构
[1] Ecole Polytech Fed Lausanne, Dept Microtech, Inst Microtech, CH-1015 Lausanne, Switzerland
来源
MICROROBOTICS AND MICROSYSTEM FABRICATION | 1998年 / 3202卷
关键词
micro gripper; shape memory alloys; 3D microscopy; 3D computer vision; micro actuator characterisation;
D O I
10.1117/12.298026
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 the robotics field, several grippers have been developed using SMA technologies, but, so far, SMA is only used as the actuating part of the mechanical device. However mechanical device requires assembly and in some cases this means friction. In the case of micro-grippers, this becomes a major problem due to the small size of the components. In this paper, a new monolithic concept of micro-gripper is presented. This concept is applied to the grasping of sub-millimetre optical elements such as Selfoc(TM) lenses and the fastening of optical fibres. Measurements are performed using a newly developed high precision 3D-computer vision tracking system to characterise the spatial positions of the micro-gripper in action. To characterise relative motion of the micro-gripper the natural texture of the micro-gripper is used to compute 3D displacement. The microscope image CCD receives high frequency changes in light intensity from the surface of the gripper. Using high resolution camera calibration, passive auto focus algorithms and 2D object recognition, the position of the micro-gripper can be characterised in the 3D workspace and can be guided in future micro assembly tasks.
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页码:2 / 11
页数:10
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