A low cost coarse/fine piezoelectrically actuated microgripper with force measurement adapted to EUPASS control structure. - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue IFIP International Federation for Information Processing. Micro-Assembly Technologies and Applications. Année : 2008

A low cost coarse/fine piezoelectrically actuated microgripper with force measurement adapted to EUPASS control structure.

Résumé

Over the last few years the demand for miniature objects and devices has continuously increased. So the need for MEMS (Micro Electro Mechanical Systems) and MOEMS (Micro Opto Electro Mechanical Systems) in various fields has become more and more important. New micromanipulation technologies must be developed that take into account the specificities of MEMS and MOEMS. For performing manipulation tasks, gripping is one of the fundamental functions. In this paper, the design and the control of a microgripper dedicated to very high precision tasks are presented. The LAB (Laboratoire d'Automatique de Besançon) has developped a microgripper based on the piezoelectric properties (1). This gripper is equipped with a precise sensor for force measurement. Force measurement is very important in order to avoid damaging or destroying the fragile object. Various approaches we used to model and calibrate the microgripper. The control of the gripper is done using the EUPASS Control Structure (6).
Fichier principal
Vignette du fichier
IPAS.2008.pdf (196.29 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-00260610 , version 1 (04-03-2008)

Identifiants

Citer

Kanty Rabenorosoa, Yassine Haddab, Philippe Lutz. A low cost coarse/fine piezoelectrically actuated microgripper with force measurement adapted to EUPASS control structure.. IFIP International Federation for Information Processing. Micro-Assembly Technologies and Applications., 2008, 260, pp.235-242. ⟨10.1007/978-0-387-77405-3_22⟩. ⟨hal-00260610⟩
83 Consultations
100 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More