Force Sensing Gripper FAQ

What size objects can the gripper pick up?

There are two available size ranges for gripping. The Model GF-100 has gripper arms with an initial opening of 100 µm. The Model GF-30 has gripper arms with an initial opening of 30 µm. The clamp size opening can be controlled with nanometer precision.

What range of force can be measured with a gripper attached to the NanoBot?

The Model GF-100 gripper measures forces in the range ±125 µN. The Model GF-30 gripper measures forces in the range ±62.5 µN.

What is the resolution of the force measurement?

Both gripper Models measure force with 10 nN resolution.

How accurate is the force measurement?

Accuracy is generally within 3-4% over the measurement range. Force sensing rippers are individually calibrated and the sensitivity is provided for each device. New sensitivity calibration values can be entered via the graphical interface when different devices are installed.

Can tension forces be measured?

Yes. The force sensing grippers available for use with the NanoBot system can measure both compression and tension forces.

What type of control and user interface are provided for force sensing?

The controller for the force sensing gripper is integrated into the same compact desktop module that controls the NanoBot. The joystick that controls the NanoBot can be used to simultaneously control the gripper. Force feedback is displayed graphically in both the time and frequency domain using the built-in LabVEW application. The data acquisition system is able to sample the force feedback signal at up to 100 kHz.

How is the gripper mounted on the NanoBot?

The gripper can be mounted horizontally, or at other angles, including 45º downward and 90º downward (vertical). The different mounting options allow the gripper to approach objects from different directions and to pick and place objects located on surfaces with different orientations.

Do the grippers heat up during use?

No. Because of the electrostatic actuation mechanism, there is no extraneous heating caused by the gripper arms.