Theoretical Thermal-Mechanical Modelling and Experimental Validation of a Three-Dimensional (3D) Electrothermal Microgripper with Three Fingers
This paper presents the theoretical thermal-mechanical modeling and parameter analyses of a novel three-dimensional (3D) electrothermal microgripper with three fingers. Each finger of the microgripper is composed of a bi-directional Z-shaped electrothermal actuator and a 3D U-shaped electrothermal a...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/12/12/1512 |
| _version_ | 1797502429124624384 |
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| 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 theoretical thermal-mechanical modeling and parameter analyses of a novel three-dimensional (3D) electrothermal microgripper with three fingers. Each finger of the microgripper is composed of a bi-directional Z-shaped electrothermal actuator and a 3D U-shaped electrothermal actuator. The bi-directional Z-shaped electrothermal actuator provides the rectilinear motion in two directions. The novel 3D U-shaped electrothermal actuator offers motion with two degrees of freedom (DOFs) in the plane perpendicular to the movement of the Z-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with polyimide films. In this work, the static theoretical thermal-mechanical model of the 3D U-shaped electrothermal actuator is established. Finite-element analyses and experimental tests are conducted to verify and validate the model. With this model, parameter analyses are carried out to provide insight and guidance on further improving the 3D U-shaped actuator. Furthermore, a group of micro-manipulation experiments are conducted to demonstrate the flexibility and versality of the 3D microgripper on manipulate different types of small/micro-objects. |
| first_indexed | 2024-03-10T03:32:58Z |
| format | Article |
| id | doaj.art-1e57b827ec9140dcbaa36b32c07d5af8 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-10T03:32:58Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-1e57b827ec9140dcbaa36b32c07d5af82023-11-23T09:36:22ZengMDPI AGMicromachines2072-666X2021-12-011212151210.3390/mi12121512Theoretical Thermal-Mechanical Modelling and Experimental Validation of a Three-Dimensional (3D) Electrothermal Microgripper with Three FingersGuoning Si0Liangying Sun1Zhuo Zhang2Xuping Zhang3School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaSchool of Health Science and 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 theoretical thermal-mechanical modeling and parameter analyses of a novel three-dimensional (3D) electrothermal microgripper with three fingers. Each finger of the microgripper is composed of a bi-directional Z-shaped electrothermal actuator and a 3D U-shaped electrothermal actuator. The bi-directional Z-shaped electrothermal actuator provides the rectilinear motion in two directions. The novel 3D U-shaped electrothermal actuator offers motion with two degrees of freedom (DOFs) in the plane perpendicular to the movement of the Z-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with polyimide films. In this work, the static theoretical thermal-mechanical model of the 3D U-shaped electrothermal actuator is established. Finite-element analyses and experimental tests are conducted to verify and validate the model. With this model, parameter analyses are carried out to provide insight and guidance on further improving the 3D U-shaped actuator. Furthermore, a group of micro-manipulation experiments are conducted to demonstrate the flexibility and versality of the 3D microgripper on manipulate different types of small/micro-objects.https://www.mdpi.com/2072-666X/12/12/1512thermal-mechanical modeling3D U-shaped electrothermal actuatorbi-directional Z-shaped electrothermal actuator3D microgripperparameter analysismicro-manipulation |
| spellingShingle | Guoning Si Liangying Sun Zhuo Zhang Xuping Zhang Theoretical Thermal-Mechanical Modelling and Experimental Validation of a Three-Dimensional (3D) Electrothermal Microgripper with Three Fingers Micromachines thermal-mechanical modeling 3D U-shaped electrothermal actuator bi-directional Z-shaped electrothermal actuator 3D microgripper parameter analysis micro-manipulation |
| title | Theoretical Thermal-Mechanical Modelling and Experimental Validation of a Three-Dimensional (3D) Electrothermal Microgripper with Three Fingers |
| title_full | Theoretical Thermal-Mechanical Modelling and Experimental Validation of a Three-Dimensional (3D) Electrothermal Microgripper with Three Fingers |
| title_fullStr | Theoretical Thermal-Mechanical Modelling and Experimental Validation of a Three-Dimensional (3D) Electrothermal Microgripper with Three Fingers |
| title_full_unstemmed | Theoretical Thermal-Mechanical Modelling and Experimental Validation of a Three-Dimensional (3D) Electrothermal Microgripper with Three Fingers |
| title_short | Theoretical Thermal-Mechanical Modelling and Experimental Validation of a Three-Dimensional (3D) Electrothermal Microgripper with Three Fingers |
| title_sort | theoretical thermal mechanical modelling and experimental validation of a three dimensional 3d electrothermal microgripper with three fingers |
| topic | thermal-mechanical modeling 3D U-shaped electrothermal actuator bi-directional Z-shaped electrothermal actuator 3D microgripper parameter analysis micro-manipulation |
| url | https://www.mdpi.com/2072-666X/12/12/1512 |
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