Microgrippers are miniaturized tools designed to manipulate micro-objects, and they are becoming increasingly important in a variety of industrial fields. This paper focuses on electrostatically driven microgrippers, explaining their working principle, potentiality, limitations, as well as their applications in areas such as microassembly and microproduction. The ultimate goal is to develop even smarter and more robust devices for use in Industry 4.0 and IoT environments. It is crucial to evaluate the force that these devices can apply, and the present work aims to provide a thorough assessment of the grasping force by blending analytical models, numerical simulations, and experimental tests. Based on the results, the microgripper prototype under test can apply a maximum force of 1.04 ± 0.13 μN on the manipulated object.
Bocchetta, G., Fiori, G., Sciuto, S.A., Casimiro Caputo, A., Scorza, A. (2024). A multifaceted approach to Grasping Force estimation of CSFH-Based Electrostatic Microgrippers. In 2024 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd4.0 and IoT 2024 - Proceedings (pp.105-110). Institute of Electrical and Electronics Engineers Inc. [10.1109/metroind4.0iot61288.2024.10584120].
A multifaceted approach to Grasping Force estimation of CSFH-Based Electrostatic Microgrippers
Bocchetta, Gabriele
;Fiori, Giorgia;Sciuto, Salvatore Andrea;Casimiro Caputo, Antonio;Scorza, Andrea
2024-01-01
Abstract
Microgrippers are miniaturized tools designed to manipulate micro-objects, and they are becoming increasingly important in a variety of industrial fields. This paper focuses on electrostatically driven microgrippers, explaining their working principle, potentiality, limitations, as well as their applications in areas such as microassembly and microproduction. The ultimate goal is to develop even smarter and more robust devices for use in Industry 4.0 and IoT environments. It is crucial to evaluate the force that these devices can apply, and the present work aims to provide a thorough assessment of the grasping force by blending analytical models, numerical simulations, and experimental tests. Based on the results, the microgripper prototype under test can apply a maximum force of 1.04 ± 0.13 μN on the manipulated object.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
