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Related Concept Videos

Machines: Problem Solving I01:22

Machines: Problem Solving I

337
A toggle clamp is a mechanical device commonly used for holding and clamping objects in various applications, such as woodworking, metalworking, and assembly operations. Consider a toggle clamp subjected to a force of 200 N at the handle. The vertical clamping force can be calculated, provided the dimensions of the toggle clamp are known.
The toggle clamp system is a machine structure consisting of movable, pin-connected multi-force members that form a stabilized system to transmit forces. The...
337

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An accurate and flexible image clamping center locating algorithm for micro-gripper.

Li Zhang, Xianmin Zhang, Rixin Wang

    The Review of Scientific Instruments
    |October 27, 2023
    PubMed
    Summary

    This study introduces an iterative algorithm for precise micro-gripper jaw alignment in microassembly. The method achieves sub-pixel accuracy for flexible and accurate clamping center locating, crucial for automated micro-part handling.

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    Area of Science:

    • Robotics and Automation
    • Micro-engineering
    • Computer Vision

    Background:

    • Accurate alignment of micro-grippers to micro-parts is essential for automated microassembly.
    • Current methods struggle with flexible and accurate clamping center locating for diverse micro-gripper jaw shapes.

    Purpose of the Study:

    • To develop an iterative algorithm for precise clamping center locating of micro-grippers with various jaw shapes.
    • To enhance the accuracy and flexibility of end-effector alignment in microassembly processes.

    Main Methods:

    • Geometric analysis to transform the locating problem into a multi-parameter optimization problem.
    • Development of a block coordinate descent-based iterative optimal algorithm.
    • Proposal of a scaling golden section (SGS) scheme for iteration parameter calculation, enhanced with lookup table and variable threshold techniques.

    Main Results:

    • The proposed algorithm efficiently locates the clamping center for various jaw types.
    • Sub-pixel accuracy in clamping center locating was achieved through simulations.
    • Experimental validation confirmed the algorithm's effectiveness in microassembly.

    Conclusions:

    • The developed iterative algorithm provides a flexible and accurate solution for micro-gripper clamping center locating.
    • The method demonstrates high precision and robustness for automated microassembly applications.
    • This work contributes to advancing automated microassembly by improving end-effector alignment capabilities.