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Proceedings Paper

Force measurement in microassembly
Author(s): Leon Benmayor; Sandra Koelemeijer; Jacques Jacot
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Paper Abstract

The use of force feedback in an assembly robot can be very useful since it allows to overcome position errors and tolerance effects that cannot be detected otherwise. In order to obtain an efficient and robust force feedback loop a system capable of measuring forces with the required accuracy must be available. In addition, the relation between the forces acting on the different parts and their deformation must be known. The rigidities of the three main components of the modelled assembly system, namely the robot arm, the force sensor and the assembled parts should be known. Unfortunately, this is not always possible. A certain amount of assumptions can be made just by knowing what stiffness is smaller in relation to the others. When force feedback is used in micro-assembly operations factors not relevant in the conventional size domain start to gain importance (and vice-versa) and must therefore be considered in the control loop. In addition a method based on dimensional analysis that allows to chose the most convenient type of force sensor in relation to the resolution, measuring range and even fabrication process is described.

Paper Details

Date Published: 18 August 1999
PDF: 11 pages
Proc. SPIE 3834, Microrobotics and Microassembly, (18 August 1999); doi: 10.1117/12.357823
Show Author Affiliations
Leon Benmayor, Swiss Federal Institute of Technology (Switzerland)
Sandra Koelemeijer, Swiss Federal Institute of Technology/Lausanne (Switzerland)
Jacques Jacot, Swiss Federal Institute of Technology/Lausanne (Switzerland)


Published in SPIE Proceedings Vol. 3834:
Microrobotics and Microassembly
Bradley J. Nelson; Jean-Marc Breguet, Editor(s)

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