TY - GEN
T1 - Towards the design of a decoupled, two-dimensional, vision-based, UN force sensor for microrobotics
AU - Cappelleri, David J.
AU - Krishnan, Girish
AU - Kim, Charles
AU - Kumar, Vijay
AU - Kota, Sridhar
N1 - Copyright:
Copyright 2010 Elsevier B.V., All rights reserved.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:77953754781
SN - 9780791849033
T3 - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
SP - 465
EP - 474
BT - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
T2 - 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
Y2 - 30 August 2009 through 2 September 2009
ER -