Abstract
In recent times, dimensions of consumer products have decreased, with components sizes ranging down to micrometers/nanometers. In case of microproducts that are produced in low-medium quantities with many variants, the automation of their assembly process may not be economically profitable. On the other hand, the purely manual approach is not sufficient to fulfill the task with high efficiency since a human operator has limitations for the force and precision requirements. In order to overcome these difficulties, tele-haptic micro-assembly systems are a promising approach. One of the bottlenecks on the development of such a system is the micro-gripper, which should be able to perform pick-and-place of micro-objects with diverse sizes and sense the grasping force. In this work, a developmental effort to build a mechanical micro-gripper capable of sensing grasping force and transferring these forces to the human operator using a 1-DOF master device is presented. Experimental results concerning pick-and-place of micro-objects are demonstrated.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Staiger, A., Degen, R.: Micro-assembly technologies and applications. IFIP International Federation for Information Processing 260, 257–263 (2008)
Fantoni, G., Porta, M.: A critical review of releasing strategies in microparts handling. In: Fourth International Precision Assembly Seminar IPAS 2008, Chamonix, February 11-13 (2008)
Menciassi, A., Eisinberg, A., Izzo, I., Dario, P.: From ‘Macro’ to ‘Micro’ Manipulation: Models and Experiments. IEEE/ASME Trans. on Mechatronics 9(2), 311–320 (2004)
Kunt, E.D.: Design and Realization of a Microassembly Workstation, MS Thesis, Sabanci University (2006)
Mitsuishi, M., Watanabe, T., Nakanishi, H., Hori, T., Watanabe, H., Kramer, B.: A tele-micro-surgery system across the Internet with a fixed viewpoint/ operation-point. In: IROS 1995, Pittsburgh, Pennsylvania, USA (August 1995)
Khan, S., Sabanovic, A.: Force Feedback pushing Scheme for Micromanipulation Applications. Journal of Micro-Nano Mechatronics 2009 (2009)
Khan, S., Sabanovic, A., Nergiz, A.O.: Scaled Bilateral Teleoperation using Discrete-Time Sliding Mode Controller. IEEE Transaction on Industrial Electronics (2006)
Cecil, J., Vasquez, D., Powell, D.: A review of gripping and manipulation techniques for micro-assembly applications. International Journal of Production Research 43(4), 819 (2005)
Estevez, P., et al.: A Haptic Tele-operated system for Microassembly. In: IPAS 2010, Fifth International Precision Assembly Seminar, France (2010)
Fritz, E.C., Christiansson, G.A.V., van der Linde, R.Q.: Haptic Gripper with Adjustable Inherent Passive Properties. In: Proceedings of EuroHaptic 2004, Munich Germany, June 5-7 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Khan, S., de Boer, T., Estevez, P., Langen, H.H., Munnig Schmidt, R.H. (2010). Development of Haptic Microgripper for Microassembly Operation. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6192. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14075-4_45
Download citation
DOI: https://doi.org/10.1007/978-3-642-14075-4_45
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14074-7
Online ISBN: 978-3-642-14075-4
eBook Packages: Computer ScienceComputer Science (R0)