Measurement of force sensory information in ultraprecision assembly tasks

Yamamoto, Y.; Hashimoto, T.; Okubo, Tsuyoshi; Itoh, Takuzì

doi:10.1109/tmech.2002.1011256

Cited by 7 publications

(4 citation statements)

References 11 publications

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“…Force control has been applied in many micromanipulation operations, such as cell manipulation [10], [55] and peg-hole assembly [56], [57]. These operations are usually carried out using microrobotic systems.…”

Section: Control Of Manipulation Forcesmentioning

confidence: 99%

Force Sensing and Control in Micromanipulation

Lü

Chen

Wang

2006

IEEE Trans. Syst., Man, Cybern. C

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In micromanipulation, the size of the manipulated object is usually much less than 1 mm in a single dimension, in which case gravitational and inertial forces are no longer dominant. This leads to problems (for manipulation through force) that are not evident in the macroworld, and for which the macroworld techniques alone may not be adequate to provide solutions. This paper surveys critical issues and their available solutions related to force control in micromanipulation. It focuses on: 1) techniques for dealing with adhesion forces and 2) methods for force sensing and control.

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Section: Control Of Manipulation Forcesmentioning

confidence: 99%

Force Sensing and Control in Micromanipulation

Lü

Chen

Wang

2006

IEEE Trans. Syst., Man, Cybern. C

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“…The current trends of end products are close packed as well as downsizing that would require the precise assembly methods. In the recent report, the desired assembly accuracy is extremely high [1], for instance, the clearance between the peg and hole is 9 μm (50 H8/50 g7). The downsizing of products induces thinning of parts and causes a deformation problem during assembly.…”

Section: Introductionmentioning

confidence: 99%

Passive Alignment Principle for Robotic Assembly between a ring and a shaft with Extremely Narrow Clearance

Takahashi

Fukukawa

Fukuda

2015

IEEE/ASME Trans. Mechatron.

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“…Force control has already been applied to achieve stable grasping [16], [24], [15], peg in hole insertion [25], [26], [27], [28], lift mirror [29], [30], and alignment by pushing [31]. Despite interesting results, these works are not applicable to the assembly of silicon components with planar surfaces whereas they are the most widespread [3], [4], [32] because it requires:…”

Section: Introductionmentioning

confidence: 99%

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

Rabenorosoa

Clevy

Qiao

et al. 2012

IEEE/ASME Trans. Mechatron.

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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 micro-assembly 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 it is compared to FEA (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 µN. 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 micro-assembly tasks.

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Measurement of force sensory information in ultraprecision assembly tasks

Cited by 7 publications

References 11 publications

Force Sensing and Control in Micromanipulation

Force Sensing and Control in Micromanipulation

Passive Alignment Principle for Robotic Assembly between a ring and a shaft with Extremely Narrow Clearance

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

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