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A precision robot system with modular actuators and MEMS micro gripper for micro system assembly |
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| Authors: | BongSeok Kim Joon-Shik Park Chanwoo Moon Gu-Min Jeong Hyun-Sik Ahn |
| Affiliation: | (1) Intelligent mechatronics research center, Korea Electronic Technology Institute, 401-402 B/D 193 Yakdae-Dong, Wonmi-Gu, Buchon-Si, KyoungGi-Do, Korea;(2) Nano mechatronics research center, Korea Electronic Technology Institute, Wonmi-Gu, Buchon-Si, KyoungGi-Do, Korea;(3) College of Electrical Engineering and Computer Science, Kookmin University, 861-1 Jeongneung-Dong, Seongbuk-Gu, Seoul, Korea |
| Abstract: | A robotic system which consists of a precision manipulator and a micro gripper for a micro system assembly is presented. The developed P-R-R type 3 DOF robot is actuated by newly proposed modular revolute and prismatic actuators. As an end-effector of this manipulator, a micro gripper is designed and fabricated with MEMS technology, and the displacement of the jaw is up to 142.8 μm. A real gripping test is conducted to evaluate the robotic system. |
| Keywords: | Precision robot system Modular actuator MEMS gripper Micro system assembly |
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