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

Rabenorosoa, Kanty; Clevy, Cédric; Qiao, Chen; Lutz, Philippe

doi:10.1109/tmech.2011.2131673

Cited by 25 publications

(18 citation statements)

References 33 publications

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“…In literature, the most used solution is to use a microgripper with an active finger and a force sensing finger. However, in previous works [9], the use of two-sensing-fingers microgripper provides an estimation of the lateral contact force between the manipulated micropart and the microassembly substrate in addition to the gripping forces.…”

Section: Microgripper With Sensorized End-effectorsmentioning

confidence: 99%

Microrobotic Station for Nano-Optical Component Assembly

Komati

Clevy

Courjal

et al. 2015

MATEC Web of Conferences

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Abstract. Compact photonic structures have strategic importance in several fields. In order to fabricate more complex structures with optimized optical function, robotic nano-assembly is a promising solution because it enables to integrate several types of materials from different fabrication processes into the same structure. This paper presents a microrobotic station which is designed for the assembly of nano-optical components. The robotic station has 8-DOF for positioning and 4-DOF microgripper with integrated force sensors to perform dexterous and accurate manipulation of components by considering both position and contact force to achieve precise alignment and parallelism of structures.

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Section: Microgripper With Sensorized End-effectorsmentioning

confidence: 99%

Microrobotic Station for Nano-Optical Component Assembly

Komati

Clevy

Courjal

et al. 2015

MATEC Web of Conferences

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“…As compared with conventional 1-DOF gripping, the 2-DOF positioning allows a more dexterous manipulation for practical applications. In the future work, a prototype of the designed microgripper will be fabricated and a simultaneous position/force control [22], [23] will be conducted through experimental investigations.…”

Section: Analytical Computation and Fea Simulationmentioning

confidence: 99%

A Dual-Axis Electrostatically Driven MEMS Microgripper

Jia

2014

International Journal of Advanced Robotic Systems

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This paper presents the design of a new monolithic twoaxis electrostatically actuated MEMS microgripper with integrated capacitive position and force sensors working at the micro-scale level. Each of the two jaws of the microgripper possesses two degrees-of-freedom (DOF) and is capable of positioning in both x-and y-axes. Unlike existing works, where one gripper arm is actuated and other one is sensed, both arms of the proposed microgripper are actuated and sensed independently. A sensing scheme is constructed to provide the position and force signals in the noncontact and contact phases, respectively. By applying a 120V driving voltage, the jaw can provide 70 μm x-axis and 18 μm y-axis displacements with the force of 190 μN. By this design, the real-time position and grasping force information can be obtained in the dual sensing mode. Both analytical calculation and finite-element analysis (FEA) were performed to verify the performance of the proposed design. A scaled-up prototype is designed, fabricated and tested through the experiment to verify the structure design of the microgripper.

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“…It was shown that the evolution of the gripping forces follows two steps, according to the contact between the microgripper fingers and the rigid micropart: planar contact and edge/vertex contact [21]. The planar contact is characterized by the linear displacement of the micropart and the edge/vertex contact by the combined linear translational displacement of the micropart along Y for small F y force and rotation around X for higher F y .…”

Section: ) Stability According To a F Z Perturbation (Fig 5)mentioning

confidence: 99%

“…In these works, AFM probes are often used or grippers with one sensing fingers and one actuated finger. The use of two-sensing-finger allows to detect the side of contact [21] and to control the gripping forces at the same time or independently (picking of a micropart). Such a system brings suitable information about the contact, provides more dexterity of the grasp and ensures more safety to not break microparts.…”

Section: Introductionmentioning

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

Cited by 25 publications

References 33 publications

Microrobotic Station for Nano-Optical Component Assembly

Microrobotic Station for Nano-Optical Component Assembly

A Dual-Axis Electrostatically Driven MEMS Microgripper

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

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