Design, Analysis and Experimental Investigations of a Double-Arm Based Micro-Gripper for Thin and Flexible Metal Wires Manipulation

Abstract

A robotic system for the automatic wire pulling of coreless motor winding is designed, including the design of an opening-closing control system and a micro-gripper’s tip structure with a double-armed elastic-beam structure for the support part and an enveloping clamping structure for the tip part. The micro-gripper captures the electrode wire from the root, encircles the wire after the envelope region is closed, and the thin and flexible electrode wire is pulled to the top of the electrode pad by the movement of the micro-gripper and released. The mechanical index of the micro-gripper is simulated to obtain the optimal structural parameters. The experimental results show that the electrode wire’s maximum bearing force is about 0.3 N. Under this reaction force, the deformation of the tip-envelope region of the micro-gripper is about 27.5 μm, which is sufficient for electrode wire pulling micro-manipulation. By comparison with the steel micro-gripper, the silicon micro-gripper has more advantages in shape integrity, machinability and mechanical properties.

Correction of Rotational Eccentricity Based on Model and Microvision in the Wire-Traction Micromanipulation System

“…Proper image filtering can enhance image quality. Since the median filtering can effectively protect the edges and reduce the degree of blur while suppressing noise, this paper uses the median filtering to preprocess the microscopic image by Equation (10), and Figure 6b shows the filtering result of the coil microscopic image by g(x, y) = MF i,j∈FT…”

“…In view of this problem, Wang et al [ 8 , 9 , 10 ] designed an automatic micromanipulation system for coil wire-traction based on microvision. In the system, the electrode wire was clamped by the microgripper and guided by microvision to make the wire lie on the pad in order to meet the requirements of automatic traction.…”