Miniature Compliant Grippers with Force-Sensing

Maheswari, N and Reddy, AN and Sahu, DK and Ananthasuresh, GK (2009) Miniature Compliant Grippers with Force-Sensing. In: 14th National Conference on Machines and Mechanisms (NaCoMM-09), December 17-18, 2009, NIT-Durgapur, India.

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Abstract

Abstract This paper is concerned with the manipulation of biological cells with miniature grippers that can also measure forces. We have designed three single-piece, compliant miniature grippers with parallel and angular jaw motions. Two grippers were designed intuitively while the third one was designed using topology optimization with implicit manufacturing constraints. These grippers were fabricated using different manufacturing techniques as well as with different materials. We present a vision-based force-sensing method by solving Cauchy's problem in elasticity. In this work, the gripper was used to hold a yeast ball of less than 1 mm in diameter and forces involved there in were estimated to be about 30 mN. The force-sensing technique was validated at the macro scale where there was an independent method of estimating the forces using spring arrangement.

Item Type:	Conference Paper
Publisher:	NaCoMM 2009
Additional Information:	The copyright of the article belongs to NaCoMM 2009
Keywords:	Cauchy's problem; Micro-gripper; Micromanipulation; Prototyping; Topology optimization; Vision-based force-sensing
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	01 May 2012 07:13
Last Modified:	09 Dec 2022 05:17
URI:	https://eprints.iisc.ac.in/id/eprint/40081

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