Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom
This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-04-01
|
| Series: | Micromachines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-666X/12/4/444 |
| _version_ | 1797537501554933760 |
|---|---|
| author | Guoning Si Liangying Sun Zhuo Zhang Xuping Zhang |
| author_facet | Guoning Si Liangying Sun Zhuo Zhang Xuping Zhang |
| author_sort | Guoning Si |
| collection | DOAJ |
| description | This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space. |
| first_indexed | 2024-03-10T12:17:02Z |
| format | Article |
| id | doaj.art-19775b0168024a61b9051c64d99a54e6 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-10T12:17:02Z |
| publishDate | 2021-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-19775b0168024a61b9051c64d99a54e62023-11-21T15:46:50ZengMDPI AGMicromachines2072-666X2021-04-0112444410.3390/mi12040444Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of FreedomGuoning Si0Liangying Sun1Zhuo Zhang2Xuping Zhang3School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaSchool of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaSchool of Modern Posts, Xi’an University of Posts and Telecommunications, Xi’an 710061, ChinaDepartment of Mechanical and Production Engineering, Aarhus University, 8200 Aarhus, DenmarkThis paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space.https://www.mdpi.com/2072-666X/12/4/4443D electrothermal actuatormicrogripper with multi DOFs3D micro-manipulationthree-fingered gripperzebrafish embryo |
| spellingShingle | Guoning Si Liangying Sun Zhuo Zhang Xuping Zhang Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom Micromachines 3D electrothermal actuator microgripper with multi DOFs 3D micro-manipulation three-fingered gripper zebrafish embryo |
| title | Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom |
| title_full | Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom |
| title_fullStr | Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom |
| title_full_unstemmed | Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom |
| title_short | Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom |
| title_sort | design fabrication and testing of a novel 3d 3 fingered electrothermal microgripper with multiple degrees of freedom |
| topic | 3D electrothermal actuator microgripper with multi DOFs 3D micro-manipulation three-fingered gripper zebrafish embryo |
| url | https://www.mdpi.com/2072-666X/12/4/444 |
| work_keys_str_mv | AT guoningsi designfabricationandtestingofanovel3d3fingeredelectrothermalmicrogripperwithmultipledegreesoffreedom AT liangyingsun designfabricationandtestingofanovel3d3fingeredelectrothermalmicrogripperwithmultipledegreesoffreedom AT zhuozhang designfabricationandtestingofanovel3d3fingeredelectrothermalmicrogripperwithmultipledegreesoffreedom AT xupingzhang designfabricationandtestingofanovel3d3fingeredelectrothermalmicrogripperwithmultipledegreesoffreedom |