Browsing by Keyword "Micromanipulation"
Now showing 1 - 2 of 2
Results Per Page
Sort Options
Item Design of a microgripping system with visual and force feedback for MEMS applications(2006) Giouroudi, I.; Hotzendorfer, H.; Andrijasevic, D.; Ferros, M.; Brenner, W.; COMPOSITEThis paper reports the design of a microgripping system with visual and force feedback for handling and assembly in microtechnology. The system consists of a microgripper, an electromagnetic microactuator, the Kleindiek Micromanipulator MM3A, a light microscope, a CCD camera and a computer. The microgripper is mounted on the Kleindiek Micromanipulator MM3A which has 3 degrees of freedom (two rotational axes, one linear axis), wide working range (240° in the rotational axes, 12 mm in the linear axis) and subnanometer resolution. An external CCD camera provides images for obtaining the actual axis positions and by applying inverse kinematics the actual position of the manipulators end-effector is calculated so as to perform coarse positioning. A second CCD camera in combination with a light microscope provides sufficiently precise data to perform the actual manipulation tasks. Since the gripper is electromagnetically driven, the movement of the gripper tips is a continuous mapping of the applied current. The applied current can be correlated to the actual distance between the tips by calibration. In case of gripping an object, the tips are hindered to close to the full extent. The resulting gripping force depends on the actual distance changes.Item Micromanipulation system with stereoscopic imaging(2006) Hötzendorfer, Harald; Ferros, Mercedes; Giouroudi, Ioanna; Brenner, Werner; COMPOSITEThis paper reports the design of a micromanipulation system with stereoscopic imaging for handling and assembly in microtechnology. The system consists of the Kleindiek Micromanipulator MM3A, a mobile stage, a microgripper, an electromagnetic microactuator, a stereoscopic microscope in combination with a CCD camera, 2 additional external CCD cameras and a computer. The microgripper is mounted on the micromanipulator, which has 3 degrees of freedom (two rotational axes, one linear axis), subnanometer resolution and a wide working range (240° in the rotational axes, 12 mm in linear axis). However, the micromanipulator does not possess positional encoders; therefore a feedback of the current position of the manipulator's axes is not available. Hence, the control unit of the manipulator allows only stepwise manual control of the micromanipulator. Due to this fact, this study mainly focused on the development of automated control of the micromanipulator. Visual feedback was chosen to provide position information of the manipulator's axes and a PC based control has been implemented by connecting the control unit to the PC by serial port. Moreover, since the microgripper is electromagnetically driven it is easier to control the displacement of the tips as well as the gripping force by controlling the applied current.