Piezoelectric Microgripper Equipped with a Smart CMOS Camera
نویسنده
چکیده
This paper deals with the design of a micro-eyein-hand architecture. It consists of a smart camera embedded on a gripper. The camera is a high speed (10 000 fps) CMOS sensor of 64 × 64 pixels. Each pixel measures 35 μm × 35 μm and includes a photodiode, an amplifier, two storage capacitors, and an analog arithmetic unit. The gripper consists of a 4 dof (degrees-of-freedom) (y+, y-, z+, z-) microprehensile based on piezoelectric actuators.
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