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Please use this identifier to cite or link to this item: http://dspace.library.iitb.ac.in/jspui/handle/10054/9074

Title: Development of a flexure-based, force-sensing microgripper for micro-object manipulation
Authors: JAYARAM, K
JOSHI, SS
Keywords: systems
Issue Date: 2010
Publisher: IOP PUBLISHING LTD
Citation: JOURNAL OF MICROMECHANICS AND MICROENGINEERING, 20(1), -
Abstract: This paper presents the design and development of a flexure-based microgripper, accompanied with a real-time, vision-based force sensing system to handle objects of various sizes ranging from 100 mu m to 1 mm. A simulation-based design methodology is adopted to develop an initial microgripper design, which is then optimized using theoretical modeling. The final prototype developed generated a large stroke length of over 500 mu m with high-deflection magnification (ratio of the end deflection (output) to the input deflection) of 3.52. A spring system has been incorporated into the microgripper for easy measurement and control of the gripping forces. The web-camera-based visual system enables real-time force measurement with a resolution of 2.37 mN and can be operated in both manual and automatic modes to control the applied forces. The system has successfully demonstrated gripping of a variety of micro-objects including a 100 mu m human hair and a 1 mm steel rod with forces as small as 43 mN and 159 mN, respectively.
URI: http://dx.doi.org/10.1088/0960-1317/20/1/015001
http://dspace.library.iitb.ac.in/xmlui/handle/10054/9074
http://hdl.handle.net/10054/9074
ISSN: 0960-1317
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