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This work presents the design of a microgripper integrated with force sensor using electrostatic actuation. The single capacitance sensor used in the design can also operate as an actuator when force sensing is not required. The design is optimized in the standard MEMS technology SOIMUMPs. An input voltage of 85 V produces a force of 384 Â¿N and a displacement of 15 Â¿m. In dual actuation mode, the gripper jaws are displaced 15 Â¿m at an input voltage of 60 V. A concept of two stage jaw is given which increases the range of object size gripped to 30 Â¿m without increasing the size or input voltage of the actuator.