Self-aligning electrostatic gripper for assembly of millimeter-sized parts

Edward L. White, Eniko T. Enikov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

In this study, the performance of several electrostatic grippers is evaluated. These grippers are designed to align millimeter scale parts to matching electrode geometry on the gripper surface. Friction between the gripper and part is overcome through ultrasonic excitation of the gripper by a piezoceramic element. The effect of different frequencies and amplitudes of excitation on alignment were observed. Additionally, the use of ultrasonic excitation to aid in part release after clamping was investigated. Under ideal conditions, part motion was most frequently observed in certain excitation frequency windows, which correspond to resonant modes of the part-gripper system.

Original languageEnglish (US)
Title of host publication2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
DOIs
StatePublished - Dec 1 2007
Event2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM - Zurich, Switzerland
Duration: Sep 4 2007Sep 7 2007

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
CountrySwitzerland
CityZurich
Period9/4/079/7/07

Keywords

  • Electrostatics
  • Microassembly
  • Self-alignment

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    White, E. L., & Enikov, E. T. (2007). Self-aligning electrostatic gripper for assembly of millimeter-sized parts. In 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM [4412447] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2007.4412447