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Review Article

A Comprehensive Survey on Modern Microgrippers Design: Mechanical Structure

[+] Author and Article Information
Matteo Verotti

Department of Mechanical and Aerospace Engineering Sapienza University of Rome Rome, Italy, 00184
matteo.verotti@uniroma1.it

Alden Dochshanov

Department of Mechanical and Aerospace Engineering Sapienza University of Rome Rome, Italy, 00184
alden.dochshanov@uniroma1.it

Nicola Pio Belfiore

Department of Mechanical and Aerospace Engineering Sapienza University of Rome Rome, Italy, 00184
belfiore@dima.uniroma1.it

1Corresponding author.

ASME doi:10.1115/1.4036351 History: Received July 28, 2016; Revised March 14, 2017

Abstract

An Atlas of 98 microgrippers that recently appeared in Literature is herein presented by using four different forms: a) a restyled layout of the original mechanical structure, b) its corresponding pseudo-rigid body model (PRBM), c) its kinematic chain and, finally, d) its related graph. Homogeneity in functional sketching (a) is assumed to be greatly helpful to understand how these grippers work and what are the most significant differences between them. Therefore, a unified and systematic set of aesthetics and proportionality criteria have been adopted. Analogously, unified criteria for obtaining pseudo-rigid (b), kinematic (c), and graph (d) representations have been also used, which made the Atlas easy to be read and inspected. The distinction among lumped and distributed compliance has been also accepted to develop the structure of the Atlas. A companion paper has been prepared to present a survey on the variety of operational strategies that are used in these microgrippers.

Copyright (c) 2017 by ASME
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