Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force

摘要

A vision-based sensing system is developed for the measurement of gripping force in a polymer microgripper system. The system is implemented by a force sensing arm integrated with a microgripper, a CCD with microscopic system, and an image processing algorithm. The integrated force sensor and microgripper mechanism is fabricated by utilizing polyurethane film. The microgripper is actuated by shape memory alloy. The gripping force on a copper rod of diameter 20 mum is analyzed, measured, and calibrated. The main specifications of the gripper system are: maximum force resolution (@0.86 mum/pixel) of 1 muN, sensitivity of 988.24 muN-mum/deg, maximum gripping force of 15 muN, maximum gripping size of 40 mum, and mechanism and actuator size of 937 times 477 times 600 mum3.