TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Silicon capillary gripper with self-alignment capability

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
Otsikko2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Sivut4098-4103
Sivumäärä6
DOI - pysyväislinkit
TilaJulkaistu - 2011
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
Tapahtuma2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, Kiina
Kesto: 9 toukokuuta 201113 toukokuuta 2011

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
MaaKiina
KaupunkiShanghai
Ajanjakso9/05/1113/05/11

Tiivistelmä

This paper reports a novel capillary microgripper. The microgripper is fabricated from silicon using deep reactive ion etching and is designed to be especially suitable for self-alignment. The gripper is shown to retain its self-alignment capabilities even when the head of the gripper does not match the size of the component. This mechanism is analyzed using numerical simulations and tested in pick-and-place experiments using commercial laser diode components. The advantage of the capillary microgripper has been demonstrated in picking and aligning microchips from adhesive films, which requires substantial picking force.