Study of Forces during Micro-Assembly Tasks using Two-Sensing-Fingers Grippers.

International audienceIn this paper, the use of a two-sensing-fingers gripper for grasping planar microparts (smaller than 0.1 mm3) is being investigated and the force range during a micro-assembly sequence is estimated between 0 to 3 mN. An analytical model of their gripping forces in the presence of a lateral contact force is proposed and it is compared to FEA (Finite Element Analysis). An experimental validation is performed by a proposed setup for a lateral contact force in the range of a few tens to hundreds of N. Effects of the variation of parameters like the distance of contact, the thickness of the finger, the compliance of the finger and the preload are investigated. Design statements of microgripper and the applied force range are given in order to achieve automated micro-assembly tasks