RESUMEN
The fabrication and characterization of an optically addressable deformable mirror for a spatial light modulator are described. Device operation utilizes an electrostatically driven pixelated aluminized polymeric membrane mirror supported above an optically controlled photoconductive GaAs substrate. A 5 mum thick grid of patterned photoresist supports the 2 mum thick aluminized Mylar membrane. A conductive ZnO layer is placed on the backside of the GaAs wafer. Similar devices were also fabricated with InP. A standard Michelson interferometer is used to measure mirror deformation data as a function of illumination, applied voltage, and frequency. The device operates as an impedance distribution between two cascaded impedances of deformable membrane substrate, substrate, and electrode. An analysis of device's operation under several bias conditions, which relates membrane deformation to operating parameters, is presented.
RESUMEN
This paper presents an analytical model of a flat surfaced robotic gripper designed to automate the process of reliable, rapid and distortion-free limp material handling. The designed gripper prototype is integrated with an industrial robot manipulator. The gripper geometry and its grasp stability are justified. Performance of the overall system is experimentally tested, based on a set of industry dictated operational constraints. It is found that the gripper system has high reliability, grasp stability, and that it is capable of rapid rates of manipulation.