| Summary: | 碩士 === 國立成功大學 === 機械工程學系碩博士班 === 94 === This thesis is based on the research of micro-gripping system by “OME System Lab” in recent years for developing the function of force control in micro-gripping system. At first micro-manipulator environment in the thesis is analyzed. The effect of micro-gripping task by environment is evaluated. The designed micro-force sensor is used to do the simple experiment with adhesion forces. The adhesion forces between glass particles, with diameter 63, 37μm respectively, and PU(polyurethane) plate are measured, to facilitate estimation and control of gripping force in micro-gripping task in the future. On the other hand, designing micro gripper with force sensor and using CCD, the micro gripper can grip a copper wire with diameter 20μm and proceed to estimate the gripping force off-line, which is expected to achieve the initial development of force control.
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