DISPLACEMENT AMPLIFICATION AND SELF-LOCKING MICROGRIPPER DRIVEN BY ELECTROTHERMAL V-SHAPED ACTUATORS

Nguyễn Đức Anh; Chu Tuấn Minh; Nguyễn Tiến Dũng; Phạm Hồng Phúc

doi:10.34238/tnu-jst.12121

DISPLACEMENT AMPLIFICATION AND SELF-LOCKING MICROGRIPPER DRIVEN BY ELECTROTHERMAL V-SHAPED ACTUATORS

About this article

Received: 23/02/25 Revised: 15/04/25 Published: 17/04/25

Authors

1. Nguyen Duc Anh, Hanoi University of Science and Technology
2. Chu Tuan Minh, Hanoi University of Science and Technology
3. Nguyen Tien Dung, TNU –University of Technology
4. Pham Hong Phuc , Hanoi University of Science and Technology

Abstract

This paper presents the design and analysis of a microgripper utilizing a V-shaped electrothermal actuator with a high displacement amplification factor (k_d ≈ 4.4) and an integrated self-locking mechanism, which allows the gripper to maintain its hold on objects without requiring continuous power supply, thereby significantly reducing energy consumption. The system consists of a central V-shaped actuator that drives the lever arms and gripping jaws, along with a ratchet-based self-locking system actuated by two smaller V-shaped actuators. By applying a driving voltage of U = 29.9 V, the total displacement of the gripping jaws reaches , enabling the microgripper to handle objects with a minimum diameter of 43 µm. This design ensures high precision and adaptability in manipulating various object sizes. Furthermore, the microgripper structure is optimized to enhance displacement efficiency and gripping force while maintaining a compact and easy-to-fabricate design. Future improvements may include the integration of force sensors and an automatic voltage control system to further optimize performance and energy efficiency.

Keywords

Microgripper; Electrothermal microactuator; Self-locking mechanism; Displacement amplification; Micro Electromechanical; Systems technology

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DOI: https://doi.org/10.34238/tnu-jst.12121

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