This paper presents a vacuum gripper （as an actuator of an intelligent micromanipulator） for micro objects （with a diameter of 100 - 300μm） assembly tasks. The gripper is composed of a vacuum unit and a control u...This paper presents a vacuum gripper （as an actuator of an intelligent micromanipulator） for micro objects （with a diameter of 100 - 300μm） assembly tasks. The gripper is composed of a vacuum unit and a control unit. The vacuum unit with a proportional valve and a pressure sensor, and the control unit with a PC ＋ MCU two-layered control architecture are designed. The mechanical structure, workflow and major programs of the micro-gripper are presented. This paper discusses the major components of the adhesion force acting on micro objects. Some equations of the operation conditions m three phases of pick, hold and place are derived by mechanics analysis. The pneumatic system＇s pressure loss is inevitable. There are some formulas for calculating the amount of the pressure loss, but parameters in formulas are diffficult to be quantified and evaluated. To control the working pressure accurately, a pressure controller based on fuzzy logic is designed. With MATLAB＇s fuzzy logic toolbox, simulation experiments are performed to validate the performance of the fuzzy PD controller. The gripper is characterized by a steady and reliable performance and a simple structure, and it is suitable for handling micro objects with a sub-millimeter size.展开更多
The characteristics of a kind of comb-drive electrostatic actuated micro-gripper are tested. The test platform using a microscope-CCD-computer, the state information of the micro-gripper obtained by data acquisition a...The characteristics of a kind of comb-drive electrostatic actuated micro-gripper are tested. The test platform using a microscope-CCD-computer, the state information of the micro-gripper obtained by data acquisition and image processing, voltage-displacement characteristic curve is obtained and the mathematical equation is established. The analysis of the characteristic equation has shown the consistency and rationality of the theoretical design and the experimental results. The main factors that cause the difference between the theoretical design and the actual test performance are analyzed, and the design method and experimental results is obtained for the micro-gripper in the field of micro-assembly.展开更多
A system using microgripper for gluing and adhesive bonding in automatic microassembly was designed, implemented, and tested. The development of system is guided by axiomatic design principle. With a compliant PU micr...A system using microgripper for gluing and adhesive bonding in automatic microassembly was designed, implemented, and tested. The development of system is guided by axiomatic design principle. With a compliant PU microgripper, regional-edge-statistics (RES) algorithm, and PD controller, a visual-servoing system was implemented for gripping micro object, gluing adhesive, and operating adhesive bonding. The RES algorithm estimated and tracked a gripper’s centroid to implement a visual-servoing control in the microassembly operation. The main specifications of the system are: gripping range of 60~80μm, working space of 7mm×5.74mm×15mm, system bandwidth of 15Hz. In the performance test, a copper rod with diameter 60μm was automatically gripped and transported for transferring glue and bonding. The 60μm copper rod was dipped into a glue container and moved, pressed and bonding to a copper rod of 380μm. The amount of binding glue was estimated about 5.7nl.展开更多
为降低微夹钳前端执行机构的复杂度,探索四自由度压电微夹钳的实现问题。通过在被设计成夹钳形状的两个压电单晶片的非黏结面上制作相互绝缘的驱动电极,且使两个非黏结面上驱动电极相互对齐的方法,设计出了可同时产生夹持方向与垂直于...为降低微夹钳前端执行机构的复杂度,探索四自由度压电微夹钳的实现问题。通过在被设计成夹钳形状的两个压电单晶片的非黏结面上制作相互绝缘的驱动电极,且使两个非黏结面上驱动电极相互对齐的方法,设计出了可同时产生夹持方向与垂直于夹持方向位移的四自由度压电微夹钳;采用压电悬臂梁变形理论,推导出了钳指位移同钳指几何参数、驱动电压的关系,进而在对钳指进行尺寸优化的基础上,采用有限元方法分析了其静动态特性;最后,对微夹钳的静动态特性进行了测试,结果表明:当驱动电压为60 V时,左钳指、右钳指在夹持方向上的位移分别为25.7μm、26.1μm,左、右钳指在垂直于夹持方向上的位移分别为33.5μm、32.8μm,钳指位移具有很好的重复性;微夹钳在夹持方向和垂直于夹持方向的固有频率分别为2.35 k Hz、0.62 k Hz;在15 V的阶跃电压作用下,微夹钳在夹持方向和垂直于夹持方向的响应时间均为0.23 s。展开更多
基金This work was supported bythe National Natural Science Foundation of China (No .60275013) the Natural High Technology Researchand DevelopementProgramof China(No .2004AA844120) .
文摘This paper presents a vacuum gripper （as an actuator of an intelligent micromanipulator） for micro objects （with a diameter of 100 - 300μm） assembly tasks. The gripper is composed of a vacuum unit and a control unit. The vacuum unit with a proportional valve and a pressure sensor, and the control unit with a PC ＋ MCU two-layered control architecture are designed. The mechanical structure, workflow and major programs of the micro-gripper are presented. This paper discusses the major components of the adhesion force acting on micro objects. Some equations of the operation conditions m three phases of pick, hold and place are derived by mechanics analysis. The pneumatic system＇s pressure loss is inevitable. There are some formulas for calculating the amount of the pressure loss, but parameters in formulas are diffficult to be quantified and evaluated. To control the working pressure accurately, a pressure controller based on fuzzy logic is designed. With MATLAB＇s fuzzy logic toolbox, simulation experiments are performed to validate the performance of the fuzzy PD controller. The gripper is characterized by a steady and reliable performance and a simple structure, and it is suitable for handling micro objects with a sub-millimeter size.
文摘The characteristics of a kind of comb-drive electrostatic actuated micro-gripper are tested. The test platform using a microscope-CCD-computer, the state information of the micro-gripper obtained by data acquisition and image processing, voltage-displacement characteristic curve is obtained and the mathematical equation is established. The analysis of the characteristic equation has shown the consistency and rationality of the theoretical design and the experimental results. The main factors that cause the difference between the theoretical design and the actual test performance are analyzed, and the design method and experimental results is obtained for the micro-gripper in the field of micro-assembly.
文摘A system using microgripper for gluing and adhesive bonding in automatic microassembly was designed, implemented, and tested. The development of system is guided by axiomatic design principle. With a compliant PU microgripper, regional-edge-statistics (RES) algorithm, and PD controller, a visual-servoing system was implemented for gripping micro object, gluing adhesive, and operating adhesive bonding. The RES algorithm estimated and tracked a gripper’s centroid to implement a visual-servoing control in the microassembly operation. The main specifications of the system are: gripping range of 60~80μm, working space of 7mm×5.74mm×15mm, system bandwidth of 15Hz. In the performance test, a copper rod with diameter 60μm was automatically gripped and transported for transferring glue and bonding. The 60μm copper rod was dipped into a glue container and moved, pressed and bonding to a copper rod of 380μm. The amount of binding glue was estimated about 5.7nl.
文摘为降低微夹钳前端执行机构的复杂度,探索四自由度压电微夹钳的实现问题。通过在被设计成夹钳形状的两个压电单晶片的非黏结面上制作相互绝缘的驱动电极,且使两个非黏结面上驱动电极相互对齐的方法,设计出了可同时产生夹持方向与垂直于夹持方向位移的四自由度压电微夹钳;采用压电悬臂梁变形理论,推导出了钳指位移同钳指几何参数、驱动电压的关系,进而在对钳指进行尺寸优化的基础上,采用有限元方法分析了其静动态特性;最后,对微夹钳的静动态特性进行了测试,结果表明:当驱动电压为60 V时,左钳指、右钳指在夹持方向上的位移分别为25.7μm、26.1μm,左、右钳指在垂直于夹持方向上的位移分别为33.5μm、32.8μm,钳指位移具有很好的重复性;微夹钳在夹持方向和垂直于夹持方向的固有频率分别为2.35 k Hz、0.62 k Hz;在15 V的阶跃电压作用下,微夹钳在夹持方向和垂直于夹持方向的响应时间均为0.23 s。
