PI force control of a microgripper for assembling biomedical microdevices

Author

Eisinberg, A. ; Menciassi, A. ; Micera, S. ; Campolo, D. ; Carrozza, M.C. ; Dario, P.

Author_Institution

Scuola Superiore Sant´´Anna, Pisa, Italy

Volume

148

Issue

6

fYear

2001

fDate

12/1/2001 12:00:00 AM

Firstpage

348

Lastpage

352

Abstract

Recent work is presented on the control of a microgripper based on flexure joints, fabricated by LIGA and instrumented with force sensors. The force sensors are semiconductor strain gauges which have been integrated in the microgripper and experimentally characterised. The microgripper is the core component of a workstation developed to grasp and manipulate tiny objects, such as components of biomedical microdevices. A proportional integral (PI) force control of the microgripper has been implemented. The results of the tracking experiments prove that this control algorithm can assure performance suitable for the intended applications

Keywords

LIGA; biomedical equipment; force control; force feedback; force sensors; microassembling; micromanipulators; microsensors; strain gauges; two-term control; LIGA; PI force control; assembling; biomedical microdevices; control algorithm; flexure joints; force sensors; microdevice assembly; microgripper; proportional integral force control; semiconductor strain gauges; tracking experiments; workstation;

fLanguage

English

Journal_Title

Circuits, Devices and Systems, IEE Proceedings -

Publisher

iet

ISSN

1350-2409

Type

jour

DOI

10.1049/ip-eds:20010172

Filename

980775