Microgripper construction kit

Ulrich K. Gengenbach; Andreas Hofmann; Friedhelm Engelhardt; Rudolf Scharnowell; Bernd Koehler

doi:10.1117/12.444137

8 October 2001 Microgripper construction kit

Ulrich K. Gengenbach, Andreas Hofmann, Friedhelm Engelhardt, Rudolf Scharnowell, Bernd Koehler

Proceedings Volume 4568, Microrobotics and Microassembly III; (2001) https://doi.org/10.1117/12.444137
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

A large number of microgrippers has been developed in industry and academia. Although the importance of hybrid integration techniques and hence the demand for assembly tools grows continuously a large part of these developments has not yet been used in industrial production. The first grippers developed for microassembly were basically vacuum grippers and downscaled tweezers. Due to increasingly complex assembly tasks more and more functionality such as sensing or additional functions such as adhesive dispensing has been integrated into gripper systems over the last years. Most of these gripper systems are incompatible since there exists no standard interface to the assembly machine and no standard for the internal modules and interfaces. Thus these tools are not easily interchangeable between assembly machines and not easily adaptable to assembly tasks. In order to alleviate this situation a construction kit for modular microgrippers is being developed. It is composed of modules with well defined interfaces that can be combined to build task specific grippers. An abstract model of a microgripper is proposed as a tool to structure the development of the construction kit. The modular concept is illustrated with prototypes.

Citation Download Citation

Ulrich K. Gengenbach, Andreas Hofmann, Friedhelm Engelhardt, Rudolf Scharnowell, and Bernd Koehler "Microgripper construction kit", Proc. SPIE 4568, Microrobotics and Microassembly III, (8 October 2001); https://doi.org/10.1117/12.444137

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