Abstract
This paper presents the design, fabrication, and calibration of a piezoelectric polymer-based sensorized microgripper. Electro discharge machining technology is employed to fabricate the superelastic alloy-based microgripper. It was experimentally tested to show the improvement of mechanical performance. For integration of force sensor in the microgripper, the sensor design based on the piezoelectric polymer PVDF film and fabrication process are presented. The calibration and performance test of the force sensor-integrated microgripper are experimentally carried out. The force sensor-integrated microgripper is applied to fine alignment tasks of micro opto-electrical components. Experimental results show that it can successfully provide force feedback to the operator through the haptic device and play a main role in preventing damage of assembly parts by adjusting the teaching command.
Original language | English |
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Pages | 1864-1869 |
Number of pages | 6 |
Publication status | Published - 2003 |
Event | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 2003 Oct 27 → 2003 Oct 31 |
Other
Other | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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Country/Territory | United States |
City | Las Vegas, NV |
Period | 03/10/27 → 03/10/31 |
Keywords
- Force sensing
- Microassembly
- Microgripper
- Micromanipulation
- Piezoelectric polymer
- PVDF
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications