Development of a Highly Compact Microgripper Capable of Online Calibration for Multisized Microobject Manipulation

Qing Shi; Zhiqiang Yu; Huaping Wang; Tao Sun; Qiang Huang; Toshio Fukuda

doi:10.1109/TNANO.2018.2793883

Development of a Highly Compact Microgripper Capable of Online Calibration for Multisized Microobject Manipulation

Qing Shi^*, Zhiqiang Yu, Huaping Wang, Tao Sun, Qiang Huang, Toshio Fukuda

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

30 Citations (Scopus)

Abstract

In this study, we developed a highly compact microgripper with an only 300-μm thick jaw and yet an amplification ratio of more than 20. A total of 18 flexure hinges were employed to achieve a low impedance grasping mechanism and diminish backlash. To achieve precise manipulation, a strain-gage-based position sensor was embedded within the microgripper to investigate the jaw displacement. Conventionally, the position sensors were calibrated by additional equipment, such as laser sensor to adjust the jaw motion stroke for the manipulation of multisized objects, which was a sophisticated process. To avoid such process, we proposed a simple visual-based online calibration method. As a result, the effectiveness and feasibility of the proposed method were verified successfully in picking and placing microspheres and microobjects with the scale ranging from hundreds of microns to a few.

Original language	English
Pages (from-to)	657-661
Number of pages	5
Journal	IEEE Transactions on Nanotechnology
Volume	17
Issue number	4
DOIs	https://doi.org/10.1109/TNANO.2018.2793883
Publication status	Published - Jul 2018

Keywords

Calibration
image processing
microgripper

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10.1109/TNANO.2018.2793883

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title = "Development of a Highly Compact Microgripper Capable of Online Calibration for Multisized Microobject Manipulation",

abstract = "In this study, we developed a highly compact microgripper with an only 300-μm thick jaw and yet an amplification ratio of more than 20. A total of 18 flexure hinges were employed to achieve a low impedance grasping mechanism and diminish backlash. To achieve precise manipulation, a strain-gage-based position sensor was embedded within the microgripper to investigate the jaw displacement. Conventionally, the position sensors were calibrated by additional equipment, such as laser sensor to adjust the jaw motion stroke for the manipulation of multisized objects, which was a sophisticated process. To avoid such process, we proposed a simple visual-based online calibration method. As a result, the effectiveness and feasibility of the proposed method were verified successfully in picking and placing microspheres and microobjects with the scale ranging from hundreds of microns to a few.",

keywords = "Calibration, image processing, microgripper",

author = "Qing Shi and Zhiqiang Yu and Huaping Wang and Tao Sun and Qiang Huang and Toshio Fukuda",

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AU - Shi, Qing

AU - Yu, Zhiqiang

AU - Wang, Huaping

AU - Sun, Tao

AU - Huang, Qiang

AU - Fukuda, Toshio

PY - 2018/7

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AB - In this study, we developed a highly compact microgripper with an only 300-μm thick jaw and yet an amplification ratio of more than 20. A total of 18 flexure hinges were employed to achieve a low impedance grasping mechanism and diminish backlash. To achieve precise manipulation, a strain-gage-based position sensor was embedded within the microgripper to investigate the jaw displacement. Conventionally, the position sensors were calibrated by additional equipment, such as laser sensor to adjust the jaw motion stroke for the manipulation of multisized objects, which was a sophisticated process. To avoid such process, we proposed a simple visual-based online calibration method. As a result, the effectiveness and feasibility of the proposed method were verified successfully in picking and placing microspheres and microobjects with the scale ranging from hundreds of microns to a few.

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Development of a Highly Compact Microgripper Capable of Online Calibration for Multisized Microobject Manipulation

Abstract

Keywords

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