A compact stepper motor actuated disposable microgripper

Abstract

This paper describes the design, modeling and experimental testing of a disposable microgripper for manipulation of micro particles and objects. We utilize a CO2 laser cutter to fabricate acrylic microgripper capable of handling objects less than 300 μm in size. The microgripper forms a flexure-based compliant mechanism which is actuated with a radial cam driven by a miniature stepper motor. Finite element analysis is used to optimize the selected design for optimal stress distribution and tip displacement in response to the applied force on the legs of the mechanism. The gripper fits on an ergonomically designed holder that contains the stepper motor and a microstepping driver to control the motor. A push of a button on the holder opens and closes the microgripper, thus, making it very easy to operate. We demonstrate the utility of the microgripper through various pick and place experiments. The experimental results exhibit a high level of integrity in the design of the microgripper to manipulate a variety of microparticles.