Towards the design of a decoupled, two-dimensional, vision-based, UN force sensor for microrobotics

David J. Cappelleri, Girish Krishnan, Charles Kim, Vijay Kumar, Sridhar Kota

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present three designs for a decoupled, two-dimensional, vision-based pNforce 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.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages465-474
Number of pages10
StatePublished - 2010
Externally publishedYes
Event2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Publication series

NameProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Volume6

Other

Other2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
Country/TerritoryUnited States
CitySan Diego, CA
Period8/30/099/2/09

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Hardware and Architecture
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Towards the design of a decoupled, two-dimensional, vision-based, UN force sensor for microrobotics'. Together they form a unique fingerprint.

Cite this