Microgrippers: Principle of operation, construction, and control method

Abstract

The micromanipulation operations are a complex problem, so specific approaches are required in the development of microgripper designs and synthesis of its control systems. Different examples of microgrippers are given, and ways to control them are discussed. The problem of performing micromanipulation operations, the main effects acting in the contact zone of parts and a gripper, as well as the features of the implementation of operations to grip objects with dimensions less than 1 mm are considered. The classification of microgripping devices of robots used in the assembly of microsystems or planned for use is given. Particular attention is paid to specific techniques for the design of microgrippers, original technical and technological techniques.