TY - GEN
T1 - Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force
AU - Chang, Ren Jung
AU - Cheng, Chih Yi
PY - 2009/11/4
Y1 - 2009/11/4
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=70350447050&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70350447050&partnerID=8YFLogxK
U2 - 10.1109/AIM.2009.5230046
DO - 10.1109/AIM.2009.5230046
M3 - Conference contribution
AN - SCOPUS:70350447050
SN - 9781424428533
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 18
EP - 23
BT - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
T2 - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Y2 - 14 July 2009 through 17 July 2009
ER -