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Design of a microelectromechanical systems microgripper with integrated electrothermal actuator and force sensor
Yang, Sijie; Xu, Qingsong
2016-10-05
Source PublicationInternational Journal of Advanced Robotic Systems
ISSN17298806
Volume13Issue:5Pages:1-10
Abstract

This article presents the conceptual design of a novel compliant microelectromechanical systems (MEMS)-based gripper with integrated electrothermal actuator and electrothermal force sensor. By this design solution, the device possesses some unique characteristics including a small and compact footprint size, and a large driving force by the thermal actuator. Owing to the use of a compliant rotational bearing, a large gripping range is obtained. The sensing arm has a capability of detecting the force transmitted from the left arm so as to prevent the damage of the grasped object. Analytical models are developed to evaluate the statics and dynamics performance of the gripper. Simulation results show that the thermal actuator produces sufficient gripping force to execute the gripping operation with a range of 80 μm under a low input voltage of 6 V. Moreover, the results of the established theoretical models match well with the finite element analysis (FEA) simulation results, which verifies the feasibility of the proposed gripper design. © SAGE Publications Ltd, unless otherwise noted. Manuscript content on this site is licensed under Creative Commons Licenses.

KeywordRobotic Gripper Electrothermal Actuator Force Sensor Mechanism Design Fea Simulation
DOI10.1177/1729881416663375
Language英语
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000394806600002
PublisherSAGE PUBLICATIONS INC, 2455 TELLER RD, THOUSAND OAKS, CA 91320 USA
The Source to ArticleEngineering Village
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Cited Times [WOS]:5   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUniversity of Macau, Avenida da Universidade, Taipa, China
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Yang, Sijie,Xu, Qingsong. Design of a microelectromechanical systems microgripper with integrated electrothermal actuator and force sensor[J]. International Journal of Advanced Robotic Systems,2016,13(5):1-10.
APA Yang, Sijie,&Xu, Qingsong.(2016).Design of a microelectromechanical systems microgripper with integrated electrothermal actuator and force sensor.International Journal of Advanced Robotic Systems,13(5),1-10.
MLA Yang, Sijie,et al."Design of a microelectromechanical systems microgripper with integrated electrothermal actuator and force sensor".International Journal of Advanced Robotic Systems 13.5(2016):1-10.
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