Development of a Novel Modular Compliant Gripper for Manipulation of Micro Objects

Abstract

This paper proposes a modular gripping mechanism for the manipulation of multiple objects. The proposed micro gripper combines traditional machining techniques with MEMS technologies to produce a modular mechanism consisting of a sturdy, compliant aluminium base and replaceable end-effectors. This creates an easily-customisable solution for micro manipulation with an array of different micro tips for different applications. We have provided the kinematic analysis for the gripper to predict the output and have also optimised design parameters based on FEA (finite element analysis) simulation and the effects of altering flexure beam lengths. The gripper is operated by a piezo actuator capable of 18 μ m displacement at 150 V of applied DC voltage. This is then amplified by a factor of 8.1 to a maximum tip displacement of 154 μ m. This is achieved by incorporating bridge and lever amplifying techniques into the design. An initial experimental analysis of the micro gripper is provided to investigate the performance of the micro gripper and to gauge the accuracy of the theory and simulation through comparison with experimental results.

An Aluminum Electro-Thermally Actuated Micro-Tweezer: Manufacturing and Characterization

“…Silicon, polymers, and metals have been extensively used as structural materials for MEMS [30][31][32]. Great thermal conductive metals with low costs, such as aluminum (Al) and copper, have been exploited extensively to manufacture micro-heaters or MEMS devices [32,33].…”

Microgripper Using Soft Microactuators for Manipulation of Living Cells

“…Considering these circumstances, microgrippers are attracting attention to realize cell manipulations with strong force and high accuracy without operator expertise [ 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 ]. Conventional microgrippers commonly use piezoelectric or magnetic materials as actuators for driving the grippers.…”

“…Conventional microgrippers commonly use piezoelectric or magnetic materials as actuators for driving the grippers. For example, Lofroth et al proposed an aluminum microgripper driven by a piezoelectric actuator [ 13 ]. The microgripper can realize both gripping and cutting by changing the tip shape of the microgripper.…”

Study of Microscale Meniscus Confined Electrodeposition Based on COMSOL

“…The technology of picking up micro-components plays a decisive role in the assembly of complex systems in micro/nanoscale [17]. The traditional method of picking up microcomponents with a mechanical manipulation tool can easily cause irreversible damage to the object [18,19].…”