Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force

Ren-Jung Chang, Chih Yi Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

A vision-based sensing system is developed for the measurement of gripping force in a polymer microgripper system. The system is implemented by a force sensing arm integrated with a microgripper, a CCD with microscopic system, and an image processing algorithm. The integrated force sensor and microgripper mechanism is fabricated by utilizing Polyurethane film. The microgripper is actuated by Shape memory alloy. The gripping force on a copper rod of diameter 20μm is analyzed, measured, and calibrated. The main specifications of the gripper system are: maximum force resolution (@0.86μm/pixel) of 1μN, sensitivity of 988.24μN-μm/deg, maximum gripping force of 15μN, maximum gripping size of 40μm, and mechanism and actuator size of 937 x 477 x 600μm3.

Original languageEnglish
Title of host publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages18-23
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 2009 Jul 142009 Jul 17

Other

Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period09-07-1409-07-17

Fingerprint

Grippers
Shape memory effect
Charge coupled devices
Polyurethanes
Image processing
Actuators
Pixels
Specifications
Copper
Sensors
Polymers

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Chang, R-J., & Cheng, C. Y. (2009). Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 (pp. 18-23). [5230046] https://doi.org/10.1109/AIM.2009.5230046
Chang, Ren-Jung ; Cheng, Chih Yi. / Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force. 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. 2009. pp. 18-23
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abstract = "A vision-based sensing system is developed for the measurement of gripping force in a polymer microgripper system. The system is implemented by a force sensing arm integrated with a microgripper, a CCD with microscopic system, and an image processing algorithm. The integrated force sensor and microgripper mechanism is fabricated by utilizing Polyurethane film. The microgripper is actuated by Shape memory alloy. The gripping force on a copper rod of diameter 20μm is analyzed, measured, and calibrated. The main specifications of the gripper system are: maximum force resolution (@0.86μm/pixel) of 1μN, sensitivity of 988.24μN-μm/deg, maximum gripping force of 15μN, maximum gripping size of 40μm, and mechanism and actuator size of 937 x 477 x 600μm3.",
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Chang, R-J & Cheng, CY 2009, Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force. in 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009., 5230046, pp. 18-23, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009, Singapore, Singapore, 09-07-14. https://doi.org/10.1109/AIM.2009.5230046

Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force. / Chang, Ren-Jung; Cheng, Chih Yi.

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. 2009. p. 18-23 5230046.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - A vision-based sensing system is developed for the measurement of gripping force in a polymer microgripper system. The system is implemented by a force sensing arm integrated with a microgripper, a CCD with microscopic system, and an image processing algorithm. The integrated force sensor and microgripper mechanism is fabricated by utilizing Polyurethane film. The microgripper is actuated by Shape memory alloy. The gripping force on a copper rod of diameter 20μm is analyzed, measured, and calibrated. The main specifications of the gripper system are: maximum force resolution (@0.86μm/pixel) of 1μN, sensitivity of 988.24μN-μm/deg, maximum gripping force of 15μN, maximum gripping size of 40μm, and mechanism and actuator size of 937 x 477 x 600μm3.

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Chang R-J, Cheng CY. Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. 2009. p. 18-23. 5230046 https://doi.org/10.1109/AIM.2009.5230046