Title :
Overview of Microgrippers and Design of a Micromanipulation Station Based on a MMOC Microgripper
Author :
Agnus, Joël ; Nectoux, Patrick ; Chaillet, Nicolas
Author_Institution :
Lab. d´´Automatique de Besancon, Univ. de Franche-Comte, Besancon
Abstract :
This paper deals with an overview of recent microgrippers. As the end-effectors of micromanipulation systems, microgrippers are crucial point of such systems for their efficiency and their reliability. The performances of current microgrippers are presented and offer a stroke extending from 50mum to approximately 2 mm and a maximum forces varying from 0.1 mN to 600 mN. Then, micromanipulation system based on a piezoelectric microgripper and a SCARA robot is presented
Keywords :
dexterous manipulators; micromanipulators; microrobots; piezoelectric devices; MMOC microgripper; SCARA robot; micromanipulation systems; microprehensile microrobot on chip; piezoelectric microgripper; Circuit testing; Electrical equipment industry; Electronic components; Electrostatic actuators; Grippers; Prototypes; Service robots; Surgery; Thermal expansion; Thermal force; MOC; micro-robot; microgripper; micromanipulation; piezoelectric;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on
Conference_Location :
Espoo
Print_ISBN :
0-7803-9355-4
DOI :
10.1109/CIRA.2005.1554264
