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Review Article

A Comprehensive Survey on Modern Microgrippers Design: Operational Strategy

[+] Author and Article Information
Alden Dochshanov

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

Matteo Verotti

Department of Mechanical and Aerospace Engineering Sapienza University of Rome Rome, Italy, 00184
matteo.verotti@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:10.1115/1.4036352 History: Received July 28, 2016; Revised March 14, 2017

Abstract

This article provides an overview of the operational strategies adopted in microgrippers design. The review covers microgrippers recently proposed in Literature, some of which have been systematically presented in a companion paper, where their topological, kinematic and structural characteristics are discussed. In the present contribution the prevalent actuation methods and the operational aspects are discussed: the tip displacement, the tip force, the actuation voltage and the amplification factor are the reference parameters that are adopted to compare the different types of actuation and operational strategies. In addition, the control strategies and control algorithms currently adopted are reviewed.

Copyright (c) 2017 by ASME
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