Four d.o.f. Piezoelectric Microgripper Equipped With a Smart CMOS Camera

Author

Tamadazte, B. ; Paindavoine, M. ; Agnus, J. ; Pétrini, V. ; Le-Fort Piat, N.

Author_Institution

Centre Nat. de la Rech. Sci., Univ. de Franche-Comte, Besancon, France

Volume

21

Issue

2

fYear

2012

fDate

4/1/2012 12:00:00 AM

Firstpage

256

Lastpage

258

Abstract

This letter deals with the design of a micro-eye-in-hand architecture. It consists of a smart camera embedded on a gripper. The camera is a high-speed (10 000 frames/s) complementary metal-oxide-semiconductor sensor of 64 × 64 pixels. Each pixel measures 35 μm × 35 μm and includes a photodiode, an amplifier, two storage capacitors, and an analog arithmetic unit. The gripper consists of a 4-degree-of-freedom (y+, y-, z+, z-) microprehensile system based on piezoelectric actuators.

Keywords

CMOS image sensors; grippers; intelligent sensors; micromanipulators; piezoelectric actuators; amplifier; analog arithmetic unit; complementary metal-oxide-semiconductor sensor; micro-eye-in-hand architecture; microprehensile system; photodiode; piezoelectric actuators; piezoelectric microgripper; size 35 mum; smart CMOS camera; storage capacitors; CMOS integrated circuits; Cameras; Grippers; Image processing; Microassembly; Micromechanical devices; Robot sensing systems; Complementary metal–oxide–semiconductor (CMOS) sensor; eye-in-hand system; microgripper; micromanipulation; microrobotics;

fLanguage

English

Journal_Title

Microelectromechanical Systems, Journal of

Publisher

ieee

ISSN

1057-7157

Type

jour

DOI

10.1109/JMEMS.2011.2180363

Filename

6134624