Title :
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
fDate :
4/1/2012 12:00:00 AM
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;
Journal_Title :
Microelectromechanical Systems, Journal of
DOI :
10.1109/JMEMS.2011.2180363
