Grasping and interaction force feedback in microassembly

Book chapter (2010)

Authors

M Porta Micro and Nano Engineering - Mechanical, Maritime and Materials Engineering
M. Tichem Micro and Nano Engineering - Mechanical, Maritime and Materials Engineering
Research Group
Micro and Nano Engineering (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2010

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Precision and Microsystems Engineering

Research Group

Micro and Nano Engineering

Abstract

The aim of this paper is to define role and added value of force feedback
in executing microassembly tasks, as well as to demonstrate microsystem
technology based sensing devices which allow registering the relevant forces.
In executing microassembly processes useful forces to sense are the grasping
force, i.e. the force with which the object is gripped, and the interaction force,
i.e. the force resulting from the interaction of the gripped object with the environment.
Based on a general assembly process analysis, the requirements for
force sensing are defined. Next, devices are shown which allow the identification
of the contact forces and object positions.