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Erschienen in:
2012 | OriginalPaper | Buchkapitel
A Microrobotic Gripper and Force Sensor
verfasst von : Ron Lumia
Erschienen in: Proceedings of the 2011 2nd International Congress on Computer Applications and Computational Science
Verlag: Springer Berlin Heidelberg
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This paper describes a microrobotic gripper made from an ionic polymer metal composite (IPMC) material. The grasping capabilities of this device are described theoretically, predicting a 1.22 mN force when grasping a rigid object. Experimental results of this grasping are shown, corroborating the expected force with a measurement of 1.2 mN. In addition, a small modification to the finger, i.e., cutting one of the finger surfaces into two separate pieces allows the device to function as both a sensor and actuator. The microfinger’s sensing capability is described through its application as a force sensor.