DISPLACEMENT AMPLIFICATION AND SELF-LOCKING MICROGRIPPER DRIVEN BY ELECTROTHERMAL V-SHAPED ACTUATORS
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DOI:
https://doi.org/10.34238/tnu-jst.12121Abstract
This paper presents the design and analysis of a microgripper utilizing a V-shaped electrothermal actuator with a high displacement amplification factor (kd ≈ 4.4) and an integrated self-locking mechanism, which allows the gripper to maintain its hold on objects without requiring continuous power supply, thereby significantly reducing energy consumption. The system consists of a central V-shaped actuator that drives the lever arms and gripping jaws, along with a ratchet-based self-locking system actuated by two smaller V-shaped actuators. By applying a driving voltage of U = 29.9 V, the total displacement of the gripping jaws reaches , enabling the microgripper to handle objects with a minimum diameter of 43 µm. This design ensures high precision and adaptability in manipulating various object sizes. Furthermore, the microgripper structure is optimized to enhance displacement efficiency and gripping force while maintaining a compact and easy-to-fabricate design. Future improvements may include the integration of force sensors and an automatic voltage control system to further optimize performance and energy efficiency.Downloads
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