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

14 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 Nov 4
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 2009 Jul 142009 Jul 17

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

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

All Science Journal Classification (ASJC) codes

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

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    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] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2009.5230046