Mr. Jochen Schlick Profile

Jochen Schlick

at Univ Kaiserslautern

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Publications (3)

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Proceedings Article | 24 April 2003 Paper

Smart tong grippers for microparts

Jochen Schlick, Detlef Zuehlke

Proceedings Volume 5116, (2003) https://doi.org/10.1117/12.499009

KEYWORDS: Sensors, Actuators, Magnetic sensors, Magnetism, Control systems, Prototyping, Metals, Microelectromechanical systems, Mechatronics, Iron

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In this paper a new approach for the design of tong grippers for micro-parts is presented. The grippers are made up of two independent jaw-actuator-sensor units that are coupled by an electronic control instead of a mechanical transmission. Electronic coupling of the jaws lowers the need for expensive precision mechanics and allows extracting information about the gripping situation. Each unit can very precisely position the gripping jaw and measure very small forces. The units act like small adjustable weighing machines. The gripping jaw is guided by a flexure hinge structure. The major characteristic is the frictionless and even movement of the gripping jaws. The jaw movement is driven by a moving coil actuator that takes advantage of the characteristics of the flexure hinge structure. The displacement of the gripping jaw is monitored by a magnetic displacement sensor. This approach allows building smart grippers that are able to analyze the gripping situation. Appropriate actions of the robot could be triggered based upon the gripper’s information. Thereby the efficiency of the assembly process could be improved. Prototypes using this approach have been realized. The properties of these prototypes have been tested in an experimental evaluation.

Proceedings Article | 15 January 2003 Paper

Design concept for tong grippers for automated microassembly

Jochen Schlick, Detlef Zuehlke

Proceedings Volume 4979, (2003) https://doi.org/10.1117/12.472722

KEYWORDS: Sensors, Actuators, Magnetism, Magnetic sensors, Prototyping, Metals, Iron, Structural design, Electromagnetism, Manufacturing

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In this paper a design concept for tong grippers for micro-parts is presented which allows the quick development of adapted grippers for automated micro-assembly processes. This concept is demonstrated by several gripper prototypes. They consist of a flexure hinge structure made of metal which acts as guiding device for the gripping jaws and as the gripping jaws themselves. This structure ensures a very precise movement of the jaws since stick slip effects in the guiding device are avoided. The actuation is done by force generating actuators like moving coil, magnetic or pneumatic piston actuators. The use of a frictionless elastic guiding device in addition to mostly frictionless actuators guarantees a high precision of the jaw movement as well as a very precisely adjustable gripping force. The concept covers the design of the flexure hinge structure, the design of the actuators and the coupling of actuator and flexure hinge structure. Using this design concept several grippers have been realized and tested in experimental evaluations where they proved their reliability and the fulfillment of the given specifications thus verifying the correctness of the design concept.

Proceedings Article | 8 October 2001 Paper

Design and application of a gripper for microparts using flexure hinges and pneumatic actuation

Jochen Schlick, Detlef Zuehlke

Proceedings Volume 4568, (2001) https://doi.org/10.1117/12.444115

KEYWORDS: Actuators, Robots, Aluminum, Sensors, Manufacturing, Metals, Interfaces, Space robots, Reliability, Resistance

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In this paper a new gripper for microparts with dimensions of 200 to 3500 micrometers is presented that is especially designed for industrial suitability. This covers beside repeatability of position and force robustness of the mechanical structure, simple interfaces of the gripper's control structure and long service life. The minimization of the grippers size and weight is no superior objective because today's precision robots usually have sufficient payload and working space. To achieve this goal well tested technology from micro- an macro handling devices are combined. The new gripper is made up of a symmetrical guiding mechanism based on flexure hinges of aluminum and it is driven by a pneumatic actuator. In the first step the maximal gripping force can easily be limited by the working pressure of the pneumatic actuator. Standard open/ close commands provide a robust control interface. The technology of pneumatic actuation is well known and reliable. Since minimization of size is not the primary goal, a long service life can be achieved by limiting the mechanical stress in the flexure hinges. A skirt of aluminum protects the guiding device against destruction caused by collisions. The new gripper has been realized and has been used in a microassembly station where it proved its reliability and robustness in thousands of gripping cycles thus demonstrating its industrial suitability. An experimental evaluation was carried out in order to assess the properties of the gripper.

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