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

14 引文 斯高帕斯(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 十一月 4
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

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

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

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 軟體
  • 電腦科學應用
  • 電氣與電子工程

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