Details
| Original language | English |
|---|---|
| Title of host publication | Mechanisms and Machine Science |
| Subtitle of host publication | Grasping in Robotics |
| Publisher | Springer Netherlands |
| Pages | 411-431 |
| Number of pages | 21 |
| Volume | 10 |
| Publication status | Published - 16 Nov 2012 |
| Externally published | Yes |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Volume | 10 |
| ISSN (Print) | 2211-0984 |
| ISSN (electronic) | 2211-0992 |
Abstract
Microgrippers have their roots in macrogrippers, with many of the first microgrippers being scaled down versions of their larger counterparts. Although similar, with the smaller handled parts comes a different set of requirements. After presenting an overview of these requirements, different microgrippers are presented. Of these, a more detailed discussion of mechanical, vacuum, electrostatic, capillary, and freezing microgripping technologies is presented. In the last portion of this chapter, three different microgrippers will be used for the same microassembly task. Within these examples, it is shown how gripper design plays a large role in obtaining the required assembly tolerances. In one example, the gripper design is modified to improve the available information about the assembly scene, allowing an improvement in the resulting assembly uncertainty. In a further example, hot melt adhesives are used with both passive and active microgripping solutions. Through these examples, it is shown how gripper design is an important part in improving the assembly uncertainty within microassembly.
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
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Mechanisms and Machine Science: Grasping in Robotics. Vol. 10 Springer Netherlands, 2012. p. 411-431 (Mechanisms and Machine Science; Vol. 10).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Microgrippers and their influence on high precision assembly processes
AU - Raatz, Annika
AU - Ellwood, R. J.
PY - 2012/11/16
Y1 - 2012/11/16
N2 - Microgrippers have their roots in macrogrippers, with many of the first microgrippers being scaled down versions of their larger counterparts. Although similar, with the smaller handled parts comes a different set of requirements. After presenting an overview of these requirements, different microgrippers are presented. Of these, a more detailed discussion of mechanical, vacuum, electrostatic, capillary, and freezing microgripping technologies is presented. In the last portion of this chapter, three different microgrippers will be used for the same microassembly task. Within these examples, it is shown how gripper design plays a large role in obtaining the required assembly tolerances. In one example, the gripper design is modified to improve the available information about the assembly scene, allowing an improvement in the resulting assembly uncertainty. In a further example, hot melt adhesives are used with both passive and active microgripping solutions. Through these examples, it is shown how gripper design is an important part in improving the assembly uncertainty within microassembly.
AB - Microgrippers have their roots in macrogrippers, with many of the first microgrippers being scaled down versions of their larger counterparts. Although similar, with the smaller handled parts comes a different set of requirements. After presenting an overview of these requirements, different microgrippers are presented. Of these, a more detailed discussion of mechanical, vacuum, electrostatic, capillary, and freezing microgripping technologies is presented. In the last portion of this chapter, three different microgrippers will be used for the same microassembly task. Within these examples, it is shown how gripper design plays a large role in obtaining the required assembly tolerances. In one example, the gripper design is modified to improve the available information about the assembly scene, allowing an improvement in the resulting assembly uncertainty. In a further example, hot melt adhesives are used with both passive and active microgripping solutions. Through these examples, it is shown how gripper design is an important part in improving the assembly uncertainty within microassembly.
UR - http://www.scopus.com/inward/record.url?scp=85040546049&partnerID=8YFLogxK
U2 - 10.1007/978-1-4471-4664-3_16
DO - 10.1007/978-1-4471-4664-3_16
M3 - Contribution to book/anthology
AN - SCOPUS:85040546049
VL - 10
T3 - Mechanisms and Machine Science
SP - 411
EP - 431
BT - Mechanisms and Machine Science
PB - Springer Netherlands
ER -