Development of a Piezoelectric Polymer-based Sensorized Microgripper for Microassembly and Micromanipulation

Deok Ho Kim, Byungkyu Kim, Hyunjae Kang, Byeong Kwon Ju

Research output: Contribution to conferencePaperpeer-review

13 Citations (Scopus)

Abstract

This paper presents the design, fabrication, and calibration of a piezoelectric polymer-based sensorized microgripper. Electro discharge machining technology is employed to fabricate the superelastic alloy-based microgripper. It was experimentally tested to show the improvement of mechanical performance. For integration of force sensor in the microgripper, the sensor design based on the piezoelectric polymer PVDF film and fabrication process are presented. The calibration and performance test of the force sensor-integrated microgripper are experimentally carried out. The force sensor-integrated microgripper is applied to fine alignment tasks of micro opto-electrical components. Experimental results show that it can successfully provide force feedback to the operator through the haptic device and play a main role in preventing damage of assembly parts by adjusting the teaching command.

Original languageEnglish
Pages1864-1869
Number of pages6
Publication statusPublished - 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

Keywords

  • Force sensing
  • Microassembly
  • Microgripper
  • Micromanipulation
  • Piezoelectric polymer
  • PVDF

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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