کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
414494 | 680962 | 2012 | 7 صفحه PDF | دانلود رایگان |

The micro-gripper is an essential device in micro-manipulation. A new micro-gripper fabrication process using MEMS technology is developed for a robotic micro-manipulation system. The mechanical stiffness of this gripper is analyzed with the Pseudo-Rigid Body Model to estimate the grip force of these micro-grippers of various scales and materials. The validity of the proposed model is verified by simulations and experiments. An experimental robotic micro-manipulation system consisting of this micro-gripper and a precision manipulator is implemented, and an actual gripping test is conducted to evaluate the robotic manipulation system.
► Properties of a MEMS gripper made with Nickel and Silicon were analyzed.
► Fabrication process of a Nickel micro-gripper was proposed.
► Mechanical stiffness of this gripper is analyzed with the Pseudo-Rigid Body Model.
► An experimental robotic micro-manipulation system consisting of this micro-gripper and a precision manipulator is implemented.
Journal: Robotics and Computer-Integrated Manufacturing - Volume 28, Issue 1, February 2012, Pages 50–56