1,721,026 research outputs found
Performance Indices for the Evaluation of Microgrippers Precision in Grasping and Releasing Phases
No full textIn manipulating and assembly tasks, the gripper plays a fundamental role. Tasks at the microscale are particularly challenging due to the possible effect of unwanted stiction. Many different grasping tools (generally called microgrippers) have been developed and are described in literature. The differences rely on size, shape, exchanged forces with the manipulated parts and working principle depending on the application field. Despite the large number of research and industrial cases, each author has developed different and not comparable procedures and indices to assess the device grasping and releasing performance. Therefore, the paper proposes a formalization of methods and indices for the evaluation of the performance of a generic contact microgripper in terms of precision in grasping and releasing and successful rate. This review could be helpful to support the design or the choice of the most suitable gripper according to the properties of the components to be manipulated, the task requirements and the system constraints (i.e., according to the application requirements). The validity of the proposed methodologies and indices is confirmed by theory and experimental data analysis
Assembly of microproducts: state of the art and new solutions
No full textMiniaturization is playing an important role in product redesign while complex microproducts are leaving their traditional domains. These two aspects concur to the need for increasing their production and reducing their cost. One of the main production problems is represented by microassembly. This keynote paper deals with the microassembly problems, shows the state of the art of research, highlight the most promising R&D fields and finally presents some new solutions for hybrid microproducts assembly
Kinematics Analysis of a Class of Spherical PKMs by Projective Angles
Full text linkThis paper presents the kinematics analysis of a class of spherical PKMs Parallel Kinematics Machines exploiting a novel approach. The analysis takes advantage of the properties of the projective angles, which are a set of angular conventions of which their properties have only recently been presented. Direct, inverse kinematics and singular configurations are discussed. The analysis, which results in the solution of easy equations, is developed at position, velocity and acceleration level
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