Grasping and Interaction Force Feedback in Microassembly

Abstract

The aim of this paper is to define role and added value of force feedback in executing microassembly tasks, as well as to demonstrate microsystem technology based sensing devices which allow registering the relevant forces. In executing microassembly processes useful forces to sense are the grasping force, i.e. the force with which the object is gripped, and the interaction force, i.e. the force resulting from the interaction of the gripped object with the environment. Based on a general assembly process analysis, the requirements for force sensing are defined. Next, devices are shown which allow the identification of the contact forces and object positions.

A review of micro-devices assembly techniques and technology

“…Porta and Tichem [14] outlined the challenges involved in micro-grasping and also analyzed the force feedback requirements. The authors defined and analyzed the force feedback requirement based on the general micro-assembly operations such as positioning and releasing with visual, grasping force, and interactive force feedback.…”

A Haptic Tele-operated System for Microassembly

“…It can for instance detect whether the object is safely and correctly grasped or notice an unwanted movement of the object on the grasping surface. This information is of significant importance for successfully carrying out various assembly tasks [17]. Research efforts are still needed for providing these grippers with a suitable opening range to grasp micro objects of several sizes, up to a few hundreds of microns.…”