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Proceedings Paper

Microgripper construction kit
Author(s): Ulrich K. Gengenbach; Andreas Hofmann; Friedhelm Engelhardt; Rudolf Scharnowell; Bernd Koehler
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Paper Abstract

A large number of microgrippers has been developed in industry and academia. Although the importance of hybrid integration techniques and hence the demand for assembly tools grows continuously a large part of these developments has not yet been used in industrial production. The first grippers developed for microassembly were basically vacuum grippers and downscaled tweezers. Due to increasingly complex assembly tasks more and more functionality such as sensing or additional functions such as adhesive dispensing has been integrated into gripper systems over the last years. Most of these gripper systems are incompatible since there exists no standard interface to the assembly machine and no standard for the internal modules and interfaces. Thus these tools are not easily interchangeable between assembly machines and not easily adaptable to assembly tasks. In order to alleviate this situation a construction kit for modular microgrippers is being developed. It is composed of modules with well defined interfaces that can be combined to build task specific grippers. An abstract model of a microgripper is proposed as a tool to structure the development of the construction kit. The modular concept is illustrated with prototypes.

Paper Details

Date Published: 8 October 2001
PDF: 8 pages
Proc. SPIE 4568, Microrobotics and Microassembly III, (8 October 2001); doi: 10.1117/12.444137
Show Author Affiliations
Ulrich K. Gengenbach, Forschungszentrum Karlsruhe GmbH (Germany)
Andreas Hofmann, Forschungszentrum Karlsruhe GmbH (Germany)
Friedhelm Engelhardt, Forschungszentrum Karlsruhe GmbH (Germany)
Rudolf Scharnowell, Forschungszentrum Karlsruhe GmbH (Germany)
Bernd Koehler, Forschungszentrum Karlsruhe GmbH (Germany)

Published in SPIE Proceedings Vol. 4568:
Microrobotics and Microassembly III
Bradley J. Nelson; Jean-Marc Breguet, Editor(s)

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