Real-time gripping detection for a mechanically actuated microgripper

摘要

The possibility of controlled gripping during micromanipulation procedures is widely desired in the fields of microbiology and micro-assembly. For achieving it, measurement or calculation of the forces exerted by the end segment of the manipulator are required. This work presents a method for detecting the gripping moment for a mechanically actuated silicon microgripper. A procedure that combines measurements with simulation results was developed for calculating the forces exerted by the tips of the gripper.