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Mechanical Microgrippers

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Case Studies in Micromechatronics

Abstract

Technical gripping and holding of objects are necessary and helpful when people can no longer just use their hands to carry out processes. This is the case, for example, when more than two hands are required, when there is a risk of injury (due to very high or low temperatures, harmful substances, heavy loads, etc.), or when very high precision or high process speed is required. In other words, grippers are needed if difficult to approach positions and areas are to be reached.

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Notes

  1. 1.

    Mechatronics is characterized by the cooperation of several domains. These include control engineering, electronics, mechanics, computer science, etc.

  2. 2.

    Iterative means to start with an initial guess and to generate step-by-step solutions for the individual functions. If this process stops at a point, because no solution can be found, one starts again from the beginning.

  3. 3.

    Auxiliary energy is the energy to activate the actuator. For example, a thermomechanical actuator needs the change of temperature, a piezoelectric actuator electric voltage (see next section).

  4. 4.

    Actuator elements directly implement the underlying actuation principle. Devices that already provide the desired form of travel movement are called actuator systems to distinguish between them. The definition of actuation principle, actuator element and actuator system is described in Sect. 4.5.1.

  5. 5.

    “Throw-it-over-the-wall-mentality” means to work separately and to pass the results to the other domains without comments or discussion.

  6. 6.

    “Concurrent Engineering”, on the other hand, means planning, discussing, optimizing and learning without barriers together with the other domains. It is also called “Simultaneous Engineering” or “Integrated Product Development”.

  7. 7.

    High aspect ratio describes the relationship between the maximum possible structure height and the minimum possible structure width. For example, the aspect ratio of a 20 µm wide structure having a height of 360 µm (= full wafer thickness) is 18.

  8. 8.

    Temperature of overheating means the maximum temperature an SMA element can tolerate without changing the previously imprinted shape.

  9. 9.

    Borosilicate glass was developed by the German glassmaker Otto Schott in the late 19th century. In 1915 Corning Glass Works introduced Pyrex, which became synonymous with borosilicate glass in the English-speaking world. In the 1990s Schott set up the first production line for the fabrication of floated borosilicate glass, called borofloat.

  10. 10.

    Another photoresist suitable for UV depth lithography is the AZ resist. The focus in this chapter is on the SU-8 resist, as it has very good mechanical properties and is therefore well suited for the production of 3D structures.

  11. 11.

    The exposure dose is the amount of energy per unit area, equal to the light intensity times the exposure time. The unit of the exposure dose is \( \frac{{\text{mJ}}}{{\text{cm}^{2} }} \).

  12. 12.

    There is the fundamental question whether dampers can also be described as actuators. If yes, there are also other forms of energy at the output of the actuator (e.g. heat).

  13. 13.

    For example, a macroactuator is dimensioned for its weight force and all dependent variables. If its dimensions were reduced, the adhesive and friction forces would possibly be so strong that the actuator force would not be sufficient to move the microactuator.

  14. 14.

    Since the expansion of gases and thus their pressure are strongly temperature-dependent, this process can also be thermally induced. This is referred to as the thermopneumatic actuation principle.

  15. 15.

    Colloquially, the short word “piezo effect” is often used. Since this wording is inconclusive, as there is also the piezoresistve effect (see Sect. 2.2.2), the term is always written out in full.

  16. 16.

    Above the Curie temperature, the structure of the crystallites converts into a symmetrical one and the piezoelectric effect disappears. But fortunately, this behavior is reversible.

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Authors and Affiliations

  1. Technische Universität Braunschweig, Braunschweig, Germany

    Stephanus Büttgenbach

  2. Technische Universität Braunschweig, Braunschweig, Germany

    Iordania Constantinou

  3. Technical University Braunschweig, Braunschweig, Germany

    Andreas Dietzel

  4. Technical University Braunschweig, Braunschweig, Germany

    Monika Leester-Schädel

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  1. Stephanus Büttgenbach
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Büttgenbach, S., Constantinou, I., Dietzel, A., Leester-Schädel, M. (2020). Mechanical Microgrippers. In: Case Studies in Micromechatronics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-61320-7_4

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