A micromechatronic gripper was designed, fabricated, and tested with the proposed control system. By following realization axioms, the microgripper system including a polyurethane (PU) gripper mechanism and shape memory alloy (SMA) actuator was designed and developed. The micromechatronic gripper system was realized with crosssectional area of (π/4) × 500 2 μm 2 for clean room operation. A synergetic operation of SMA actuator for driving microgripper mechanism was investigated in visual-based control. By incorporating with inverse Preisach compensator, an explicit self-tuning controller through Ziegler-Nichols criterion was selected for controlling the self-biased SMA actuator. The application of the gripper system for gripping and transporting a glass particle of 30 μm was tested.

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