Integrated microendeffector for micromanipulation

Arai, Fumihito; Andou, Daisuke; Nonoda, Y.; Fukuda, Toshio; Iwata, H.; Itoigawa, K.

doi:10.1109/3516.662864

Cited by 97 publications

(40 citation statements)

References 8 publications

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“…The development of force sensors for the microscale has been investigated by many researchers [25], [26], [27], [28] especially for micromanipulation and/or microassembly. Their integration in microrobotic systems is a very interesting approach because it provides the information about the contact when it happens and it prevents from breaking components (gripper, microparts, etc).…”

Section: A Integration Of Force Sensors In the Microassembly Stationmentioning

confidence: 99%

Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Finger Microgripper

Komati

Rabenorosoa

Clevy

et al. 2013

IEEE Trans. Automat. Sci. Eng.

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Abstract-This paper studies automated tasks based on hybrid force/position control of a flexible object at the microscale. A guiding task of a flexible micropart is the case of the study and is achieved by a two-sensing-finger microgripper. An experimental model of the behavior of the microgripper is given and the interaction forces are studied. Based on grasp stability, a guiding strategy taking into account the pull off forces is proposed. A specific control strategy using an external hybrid force/position control and taking into account microscale specificities is proposed. The experimental results of automated guiding task are presented.Note to Practitioners -This article's motivation is the need of very precise positioning in micromanipulation and microassembly tasks. The guiding tasks are a part of the microassembly process. Such guiding tasks are rarely automated. This is mainly due to the fact that automation in the microworld is a new issue and the literature only concerns the local control of microactuators and microrobots for the moment. Hybrid force/position control is a promising approach to achieve an automated guiding task of the micropart. To detect the contact between the micropart and the rail, a two-sensing-finger microgripper is used. The controller aims to release the contact and to continue going forward within the guiding axis. The proposed controller is very accurate, with high speed (low rejection time) and easy to implement. It is noticed that the proposed control scheme can also be applied to other microassembly tasks (pick-and-place, insertion, etc).

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Section: A Integration Of Force Sensors In the Microassembly Stationmentioning

confidence: 99%

Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Finger Microgripper

Komati

Rabenorosoa

Clevy

et al. 2013

IEEE Trans. Automat. Sci. Eng.

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“…ARAI ET AL. report that the van der Waals, surface tension, and electrostatic forces depend on "environmental conditions, such as humidify, temperature, surrounding medium, surface condition, material, and relative motion" (Arai et al, 1998 ). Figure 19 shows the adhesive and gravitational forces as functions of the object radius.…”

Section: Sticking Effectsmentioning

confidence: 99%

Design for Microassembly - A Methodology for Product Design and Process Selection

Tietje

Ratchev

2007

2007 IEEE International Symposium on Assembly and Manufacturing

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The thesis presents research carried out in the field of design for microassembly (DFIlA), a field that has hereto been characterised by the absence of well defined methodologies intended to facilitate transfer of prototypes from the research lab to production on industrial scale. A DFIlA methodology has been developed, serving the purpose of integrating product and micro assembly process development. It aims in particular at increasing the efficiency of the microproduct development process, decreasing the development time and the product and process cost, and enhancing the product quality.Chapter 1 presents the motivations, objectives, and structure of the thesis. The work carried out is inspired by the need to overcome barriers currently existing between the making of single research products and production on an industrial level. The main objective is to contribute to the creating of a novel DFIlA that supports product design and process selection, thereby facilitating the efficient assembly of complex three-dimensional miniaturised devices. This is complemented by a range of secondary targets that deal with the development and verification of supporting methods and models related to DFIlA.The summary of a comprehensive literature review is given in chapter 2. The survey provides results of studies closely related to the work reported in this thesis and relates that work to a larger ongoing dialogue about the topic of assembly and design in the microworld.

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“…The use of strain gauges for force measurement at the micro-scale has been very common in microrobotics [1, [56][57][58]. The first prototype of a micromanipulation system with an embedded force sensor was developed in Japan in the early 90s [1].…”

Section: From 1992: the Extensive Use Of Strain Gaugesmentioning

confidence: 99%

An Overview on Gripping Force Measurement at the Micro and Nano-Scales Using Two-Fingered Microrobotic Systems

Régnier

2014

International Journal of Advanced Robotic Systems

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Two-fingered micromanipulation systems with an integrated force sensor are widely used in robotics to sense and control gripping forces at the micro and nano-scales. They became of primary importance for an efficient manipulation and characterization of highly deformable biomaterials and nanostructures. This paper presents a chronological overview of gripping force measurement using two-fingered micromanipulation systems. The work summarizes the major achievements in this field from the early 90s to the present, focusing in particular on the evolution of measurement technologies regarding the requirements of microrobotic applications. Measuring forces below the microNewton for the manipulation of highly deformable materials, embedding force sensors within microgrippers to increase their dexterity, and reducing the influence of noise to improve the measurement resolution are among the addressed challenges. The paper shows different examples of how these challenges have been addressed. Resolution, operating range and signal/noise ratio of gripping force sensors are reported and compared. A discussion about force measurement technologies and gripping force control is performed and future trends are highlighted.

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Integrated microendeffector for micromanipulation

Cited by 97 publications

References 8 publications

Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Finger Microgripper

Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Finger Microgripper

Design for Microassembly - A Methodology for Product Design and Process Selection

An Overview on Gripping Force Measurement at the Micro and Nano-Scales Using Two-Fingered Microrobotic Systems

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