, Volume 3, Issue 3, pp 295-301

Research on vacuum gripper based on fuzzy control for micromanipulators

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Abstract

This paper presents a vacuum gripper (as an actuator of an intelligent micromanipuktor) for micro objects (with a diameter of 100 ∼ 300µm) assembly tasks. The gripper is composed of a vacuum unit and a control unit. The vacuum unit with a proportional valve and a pressure sensor, and the control unit with a PC+MCU two-layered control architecture are designed. The mechanical structure, workflow and major programs of the micro-gripper are presented.

This paper discusses the major components of the adhesion force acting on micro objects. Some equations of the operation conditions in three phases of pick, hold and place are derived by mechanics analysis. The pneumatic system s pressure loss is inevitable. There are some formulas for calculating the amount of the pressure loss, but parameters in formulas are difficult to be quantified and evaluated. To control the working pressure accurately, a pressure controller based on fuzzy logic is designed. With MATLAB’s fuzzy logic toolbox, simulation experiments are performed to validate the performance of the fuzzy PD controller.

The gripper is characterized by a steady and reliable performance and a simple structure, and it is suitable for handling micro objects with a sub-millimeter size.

This work was supported by the National Natural Science Foundation of China (No. 60275013), and the Natural High Technology Research and Developement Program of China (No. 2004 AA844120).
Guoliang CHEN is currently working toward the Ph. D. degree in control theory and control engineering at the Intelligent Control and Robotics Laboratory in Huazhong University of Science and Technology (HUST), Wuhan, China.
His main research interest is in the field of micromanipulation, visual servo, teleoperation and control. His work focuses on the development of a vision-based nicromanipulator for biological and I mechanical microparts.E-mail:ch2103103@163.com.
Xinfaan HUANG received the Laurea degree in electrical automation from HUST, Wuhan, China in 1969. Currently, he is a Professor of HUST. He is the Chairman of the Intelligent Robot Society (IRS) of the Chinese Association for Artificial Intelligence (CAAl) and the Director of the CAAI.
He is the Director of the Research Institute of the Intelligent and Control Engineer of HUST, where he supervises a team of about 100 I researchers and Ph. D. students.
His main research interests are robotics, intelligent control, image processing and pattern recognition and multi-sensor integration and information fusion. E-mail: xhhuang@mail.hust.edu.cn.
Min WANG received the Laurea degree in control theory and control engineering from HUST, Wuhan, China in 1982.
Currently, she is a Professor of HUST. She is the Secretary-general of the IRS, CAAI and the Director of the CAAI.
Her main research interests are robotics, intelligent control, image processing and pattern recognition and multi-sensor information fusion. I E-mail:wm526@163.com.