The characterization process of micro- and submicrometre particles in some cases demands their careful handling and placement. In most cases, a well-designed microgripper can address these requirements. The following research is focused on the process of design, finite element analysis, and microfabrication of an innovative compliant constant-force microgripper. This new architecture enables microgripper to handle microcomponents under constant gripping force without using any force control system. This characteristic makes it outstanding in compare to the previous works in literature. The adopted fabrication process is a ultraviolet-assisted vertical etching on polyethylene terephthalate substrate. This process is a well-established process to offer the requirements of high resolution and high aspect ratio in microfabrication of plastic structures. The prototyped sample has been successfully tested and its performance during micro-assembly process has been verified.
This article presents the design and fabrication of a monolithic compliant microgripper. This research has mostly focused on the process of design, the finite element analysis, the fabrication method and use of a genetic algorithm method to solve the nonlinear kinematic equations and estimate the proper dimensions of the design. This new architecture of the microgripper enables it to apply a variable force to a wide range of micro-objects handled in microassembly, micromanipulation and also in biomedical applications such as artificial fertilization. The microgripper was designed to be normally open. Two shape memory alloy actuators close the jaws. To achieve the tasks, the most proper size has been considered to be 8 × 8 mm, with thickness of 250 µm. Polyethylene terephthalate has been used as the structural material. It is not brittle and is less sensitive to shock compared with silicon-based grippers; furthermore, its fabrication cost is less and it does not lose precision.
In this article, in order to develop endoscopic capsular, a capsular microrobot was designed with polymeric legs. The locomotion of the microrobot is modelled by considering surface forces and the microactuator model. The microrobot is controlled with an adaptive control algorithm. We exerted surface forces containing sliding friction and surface adhesion. Polymeric microactuator is an ionic polymer metal composite. The time-variant response of the polymeric microactuator is modelled based on a set of coupled electromechanical equations and an electric equivalent bulk of polymeric gel. The model reference adaptive control was constituted for precise position control of the microrobot. For the uncertainty parameter, the simulation of the microrobot’s dynamical model was obtained.
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