Miniaturization of robotic grippers enables precise manipulation of small-size objects. However, most microgrippers are actuated by rigid actuators, and thus retain challenges such as micro-fabrication, complex structure, and lack of compliance. Here, we present a compliant microgripper driven by a soft polymer actuator. The proposed millimeter-scale soft polymer actuator can produce a linear displacement and output force with a fast operation. Then, we designed the gripper linkage to convert the linear displacement of the actuator into a gripping motion. Fabricated compliant microgripper has a size of 10×10×10 mm3 and a weight of 0.36 g, with a maximum gripping width of 8 mm. Demonstration of the gripper shows the feasibility of gripping various sub-millimeter scale objects regardless of their shape owing to its compliance.
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J. Kim et. al, "Trends in Lightweight Kernel for Many core Based High-Performance Computing", Electronics and Telecommunications Trends. Vol. 32, No. 4, 2017, KOGL Type 4: Source Indication + Commercial Use Prohibition + Change Prohibition
J. Sim et.al, “the Fourth Industrial Revolution and ICT – IDX Strategy for leading the Fourth Industrial Revolution”, ETRI Insight, 2017, KOGL Type 4: Source Indication + Commercial Use Prohibition + Change Prohibition
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