Four d.o.f. Piezoelectric Microgripper Equipped With a Smart CMOS Camera

This letter deals with the design of a micro-eye-in-hand architecture. It consists of a smart camera embedded on a gripper. The camera is a high-speed (10 000 frames/s) complementary metal-oxide-semiconductor sensor of 64 × 64 pixels. Each pixel measures 35 μm × 35 μm and includes a photodiode, an amplifier, two storage capacitors, and an analog arithmetic unit. The gripper consists of a 4-degree-of-freedom (y+, y-, z+, z-) microprehensile system based on piezoelectric actuators.