This paper presents a novel micro-gripper design with the dual functions of manipulation and force sensing. The device consists of two parallel plates, each mounted on torsion bars, which can be made to rotate towards or away from each other by use of a pneumatically- or hydraulically- actuated balloon. The plates can be conveniently fabricated using photo-etching and the design allows for a range of ratios between actuation pressure and tip opening displacement and/or force. The elastic gripping tips can be designed to provide sufficient compliance that their strain can be used to monitor and/or control the gripping force.
|Number of pages||4|
|Publication status||Published - 31 Dec 2014|
|Event||Eurosensors 2014, the 28th European Conference on Solid-State Transducers - Brescia, Italy|
Duration: 7 Sep 2014 → 10 Sep 2014
- pneumatically actuated