Development of Shape-Memory-Alloy Actuated Polymer Micro-Gripper in Virtual Reality

• Main Authors: Yu-Sian Su, 蘇育賢
• Other Authors: R.-J. Chang
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/76637942689640756698

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 92 === 　　In this thesis, the size of micro-compliant gripper and SMA actuator developed by “Opto-Mechatronic System Control Laboratory” has been reduced and redesigned. By integrating optical microscope, manipulator, and image acquisition system to the previous parts, then it becomes a micro-manipulator system. 　　In image acquisition system, the feature patterns of image are acquired by the pattern matching method to get geometric center and spot of gripping. Then the virtual scene is constructed for human machine interface. Finally, in our test, the gripper can grasp the sphere particle with diameter 20~40μm.