Si Guoning, Sun Liangying, Zhang Zhuo, Zhang Xuping
School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.
School of Modern Posts, Xi'an University of Posts and Telecommunications, Xi'an 710061, China.
Micromachines (Basel). 2021 Apr 15;12(4):444. doi: 10.3390/mi12040444.
This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space.
本文介绍了一种新型的具有多自由度（multi DOFs）的三维（3D）三指电热微夹钳的设计、制造和测试。微夹钳的每个手指由一个提供一个自由度的V形电热致动器和一个在垂直于V形致动器运动平面内提供两个自由度的3D U形电热致动器组成。因此，每个手指都具有三个自由度的三维移动性。致动器的每根梁都通过聚酰亚胺薄膜进行外部加热。在不同电压下测试了聚酰亚胺薄膜的耐久性。还测试了手指的静态和动态特性。实验表明，该微夹钳不仅可以拾取和放置微物体，如微球甚至高度可变形的斑马鱼胚胎，还可以在三维空间中旋转它们。
