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Miniature Compliant Grippers With Vision-Based Force Sensing

Reddy, Annem Narayana and Maheshwari, Nandan and Sahu, Deepak Kumar and Ananthasuresh, GK (2010) Miniature Compliant Grippers With Vision-Based Force Sensing. In: IEEE Transactions on Robotics, 26 (5). pp. 867-877.

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This paper is concerned with grasping biological cells in aqueous medium with miniature grippers that can also help estimate forces using vision-based displacement measurement and computation. We present the design, fabrication, and testing of three single-piece, compliant miniature grippers with parallel and angular jaw motions. Two grippers were designed using experience and intuition, while the third one was designed using topology optimization with implicit manufacturing constraints. These grippers were fabricated using different manufacturing techniques using spring steel and polydimethylsiloxane ( PDMS). The grippers also serve the purpose of a force sensor. Toward this, we present a vision-based force-sensing technique by solving Cauchy's problem in elasticity using an improved algorithm. We validated this technique at the macroscale, where there was an independent method to estimate the force. In this study, the gripper was used to hold a yeast ball and a zebrafish egg cell of less than 1 mm in diameter. The forces involved were estimated to be about 30 and 10 mN for the yeast ball and the zebrafish egg cell, respectively.

Item Type: Journal Article
Publication: IEEE Transactions on Robotics
Publisher: IEEE
Additional Information: Copyright 2010 IEEE. Personal use of this material is permitted.However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Keywords: Cauchy's problem; mesoscale manufacturing; microgripper; topology optimization; vision-based force sensing
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 08 Nov 2010 09:48
Last Modified: 08 Nov 2010 09:48
URI: http://eprints.iisc.ac.in/id/eprint/33666

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