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Towards the Design of a Decoupled, Two-Dimensional, Vision-Based µN Force Sensor for Microrobotics

[+] Author Affiliations
David J. Cappelleri

Stevens Institute of Technology, Hoboken, NJ

Girish Krishnan, Sridhar Kota

University of Michigan, Ann Arbor, MI

Charles Kim

Bucknell University, Lewisburg, PA

Vijay Kumar

University of Pennsylvania, Philadelphia, PA

Paper No. DETC2009-87386, pp. 465-474; 10 pages
doi:10.1115/DETC2009-87386
From:
  • ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: ASME Power Transmission and Gearing Conference; 3rd International Conference on Micro- and Nanosystems; 11th International Conference on Advanced Vehicle and Tire Technologies
  • San Diego, California, USA, August 30–September 2, 2009
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4903-3 | eISBN: 978-0-7918-3856-3
  • Copyright © 2009 by ASME

abstract

In this paper, we present three designs for a decoupled, two-dimensional, vision-based μN force sensor for microrobotic applications. There are currently no reliable, off-the-shelf, commercially-available force sensors to measure forces at this scale, that can be easily integrated into standard microrobotic test-beds. In our previous work, we presented a design consisting of a planar, elastic mechanism with known force-deflection characteristics. It was inspired by the designs of pre-existing MEMS suspension mechanisms. A CCD camera is used to track the deformation of the mechanism as it is used to manipulate objects in a micro/meso-scale robotic manipulation test-bed. By observing the displacements of select points in the mechanism, the manipulation forces can be estimated. Here, a building block approach for conceptual synthesis of compliant mechanisms methodology is used to design for decoupled displacements for the tracking points when the tip is subjected to forces in the XY-plane. By designing mechanisms with circular compliance and stiffness ellipses along with zero magnitude compliance and stiffness vectors, we are able to achieve our design requirements. Validation of this approach with macro-scale prototypes and recommendations for scaling the designs down for microrobotic applications are offered along with a sensitivity analysis of the final designs yielding insights for microfabricating such designs.

Copyright © 2009 by ASME
Topics: Design , Force sensors

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