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

Ren-Jung Chang, Chih Yi Cheng

研究成果: Conference contribution

13 引文 (Scopus)

摘要

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.

原文English
主出版物標題2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
頁面18-23
頁數6
DOIs
出版狀態Published - 2009
事件2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
持續時間: 2009 七月 142009 七月 17

Other

Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
國家Singapore
城市Singapore
期間09-07-1409-07-17

指紋

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

引用此文

Chang, R-J., & Cheng, C. Y. (2009). Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force. 於 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 (頁 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. 頁 18-23
@inproceedings{26c26a7e11af4a128cfcaad5d2eb4bb2,
title = "Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force",
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.",
author = "Ren-Jung Chang and Cheng, {Chih Yi}",
year = "2009",
doi = "10.1109/AIM.2009.5230046",
language = "English",
isbn = "9781424428533",
pages = "18--23",
booktitle = "2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009",

}

Chang, R-J & Cheng, CY 2009, Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force. 於 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009., 5230046, 頁 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.

研究成果: Conference contribution

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

Y1 - 2009

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

SP - 18

EP - 23

BT - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009

ER -

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