Structure design and application of micro-gripper in cryogenic target assembly

Zhang, Zhengtao; Zhang, Juan; Li, Haipeng; Liu, Wanji

doi:10.1109/csae.2012.6272640

Cited by 3 publications

(1 citation statement)

References 2 publications

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“…Experiments are given to verify the effectiveness of the algorithms in Section IV. Finally, the paper is concluded in Section V. The prior version of the gripper is introduced in [6]. The former gripper can be used to transfer the diagnosis band shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

Design and Application of a Kind of Micro-Gripper with Pneumatic Control System

Zhang¹,

Li²,

Xu³

2014

AMR

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In this paper, a kind of micro-gripper is introduced using vacuum adsorption method. The gripper is used to grasp a mm size micro-part in a micro-assembly process. Because of the requirement of the adsorption force, the negative pressure control system is employed which can let the micro-gripper inhale and exhale freely. Accordingly, the adsorption force of the micro-gripper can be controlled accurately. The PLC controller is used to get the pressure information from the electronic proportional valve. The PID control law is employed to adjust the opening of the valve. In this way, the micro-gripper can easily clamping and release micro-part especially for some micro-parts with adsorption effect. Experiments show that the adsorption force on the micro-part is greater than 0.5N satisfying the requirement of the clamp to grasp the micro-part.

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Section: Introductionmentioning

confidence: 99%

Design and Application of a Kind of Micro-Gripper with Pneumatic Control System

Zhang¹,

Li²,

Xu³

2014

AMR

View full text Add to dashboard Cite

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3D Space Automated Aligning Task Performed by a Microassembly System Based on Multi-channel Microscope Vision Systems

Zhang

2015

Cognitive Systems Monographs

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Research on pose point cloud matching error compensation method for confocal image assembly

Zhao

Wang

et al. 2019

J. Phys.: Conf. Ser.

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High-precision matching of spatial poses is the key to ensuring the assembly performance of complex three-dimensional devices. The human eye cannot directly judge the three-dimensional pose of mesoscale devices, and high-precision observation instruments are needed to assist accurate judgment, ensuring smooth assembly. In this paper, based on the three-dimensional assembly system of micro-devices of confocal microscope, it is difficult to realize the problem of assembly alignment of spatial poses in the existing methods, this focuses on solving the problem of how to perform high-precision pose matching by using point cloud data measured through the confocal microscope.A new method for directly performing alignment of three-dimensional poses is proposed. The principle of point cloud registration ICP algorithm is studied, and the theory of point cloud axis hole registration theory is carried out.A neural network about the mapping relationship between the angle calculated by the RT matrix obtained by ICP algorithm and the theoretical angle is constructed. The comprehensive assembly accuracy of the whole method is analyzed to be 2.41μm. Finally, the actual experiment was carried out through the standard hole axis of 3μm for the single-edge gap and assembled successfully.

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Structure design and application of micro-gripper in cryogenic target assembly

Cited by 3 publications

References 2 publications

Design and Application of a Kind of Micro-Gripper with Pneumatic Control System

Design and Application of a Kind of Micro-Gripper with Pneumatic Control System

3D Space Automated Aligning Task Performed by a Microassembly System Based on Multi-channel Microscope Vision Systems

Research on pose point cloud matching error compensation method for confocal image assembly

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