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Proceedings Paper

Force-controlled microgripping
Author(s): Yu Zhou; Bradley J. Nelson
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Paper Abstract

When grasping microparts extremely low gripping low forces, often in the micro to nano newton range, must be applied in order to prevent parts from being damaged and to prevent them from dislodging in the gripper. This paper presents our work in developing a force controlled microgripper and microgripping strategies using optical beam deflection techniques. The optical beam deflection sensor is based on modified Atomic Force Microscope techniques and is able to resolve forces below a nanonewton. A variety of gripper fingers made from materials with different conductivity and surface roughness are analyzed theoretically and experimentally using the force sensor. These results provide insight into the mechanics of micromanipulation, and the results are used to develop microgripping strategies. A design of a microfabricated force controlled microgripper is presented along with initial experimental results in applying various gripping forces to microparts. The results demonstrate the important role gripping force plays in the grasping and release of microparts.

Paper Details

Date Published: 18 August 1999
PDF: 11 pages
Proc. SPIE 3834, Microrobotics and Microassembly, (18 August 1999); doi: 10.1117/12.357826
Show Author Affiliations
Yu Zhou, Univ. of Minnesota/Twin Cities (United States)
Bradley J. Nelson, Univ. of Minnesota/Twin Cities (United States)

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

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