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Conference Paper
Compliant microgripper using soft polymer actuator
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- Authors
- Jung-Hwan Youn, Je-sung Koh, Ki-Uk Kyung
- Issue Date
- 2023-05
- Citation
- International Conference on Robotics and Automation (ICRA) 2023, pp.2570-2576
- Language
- English
- Type
- Conference Paper
- Abstract
- 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.
- KSP Keywords
- Complex structure, Micro-fabrication, Output force, Precise manipulation, Soft polymer, Sub-millimeter, fast operation, millimeter-scale, polymer actuator, small-size objects