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Browse Journals & Magazines > Mechatronics, IEEE/ASME Trans ...> Volume:17 Issue:5 Help

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

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4 Author(s)
Rabenorosoa, K. ; Automatic Control and Micro-Mechatronic Systems Department, FEMTO-ST Institute, UMR CNRS 6174—University of Franche-Comté (UFC)/Ecole Nationale Superieure de Mécaniques Microtechniques (ENSMM)/UTBM, 25000 Besançon, France ; Clevy, C. ; Chen, Q. ; Lutz, P.
$^3$) is being investigated and the force range during a microassembly sequen..."/>

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 microassembly 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 is compared to 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 micronewtons. 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 microassembly tasks.

Published in:
Mechatronics, IEEE/ASME Transactions on  (Volume:17 ,  Issue: 5 )

Date of Publication: Oct. 2012

Page(s):
811 - 821
ISSN :
1083-4435
Digital Object Identifier :
10.1109/TMECH.2011.2131673
Product Type:
Journals & Magazines
Date of Publication :
10 May 2011
Date of Current Version :
17 August 2012
Issue Date :
Oct. 2012
Sponsored by :
ASME Dynamic Systems and Control Division

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