An atlas of 98 microgrippers that recently appeared in Literature is herein presented by using four different forms: (a) a restyled layout of the original mechanical structure, (b) its corresponding pseudorigid body model (PRBM), (c) its kinematic chain, and finally, (d) its related graph. Homogeneity in functional sketching (a) is assumed to be greatly helpful to understand how these grippers work and what are the most significant differences between them. Therefore, a unified and systematic set of aesthetics and proportionality criteria have been adopted. Analogously, unified criteria for obtaining pseudorigid (b), kinematic (c), and graph (d) representations have been also used, which made the atlas easy to be read and inspected. The distinction among lumped and distributed compliance has been also accepted to develop the structure of the atlas. A companion paper has been prepared to present a survey on the variety of operational strategies that are used in these microgrippers.
A Comprehensive Survey on Microgrippers Design: Mechanical Structure
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 28, 2016; final manuscript received March 14, 2017; published online May 3, 2017. Assoc. Editor: Massimo Callegari.
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Verotti, M., Dochshanov, A., and Belfiore, N. P. (May 3, 2017). "A Comprehensive Survey on Microgrippers Design: Mechanical Structure." ASME. J. Mech. Des. June 2017; 139(6): 060801. https://doi.org/10.1115/1.4036351
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