0
Review Article

A Comprehensive Survey on Microgrippers Design: Operational Strategy

[+] Author and Article Information
Alden Dochshanov

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

Matteo Verotti

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

Nicola P. Belfiore

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

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 28, 2016; final manuscript received March 14, 2017; published online May 10, 2017. Assoc. Editor: Massimo Callegari.

J. Mech. Des 139(7), 070801 (May 10, 2017) (18 pages) Paper No: MD-16-1536; doi: 10.1115/1.4036352 History: Received July 28, 2016; Revised March 14, 2017

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.

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Figures

Grahic Jump Location
Fig. 2

Normalized comparative diagrams of electrostatic (E), thermal (T) and piezoelectric actuation systems, considering tip displacement, force at tip, actuation voltage, and amplification factor

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