Optimal Design of a Closed-Loop Control Compliant Microgripper

This paper presents recent work on using a theory of topology optimum and PID control theory to design a microgripper system. The driver of microgripper is a piezoelectricity ceramics microactuator. This study uses a PZT microactuator of 5 mm length, 3 mm width and 0.5 mm thickness. The compliant microgripper is the main component of a system developed to grasp and manipulate tiny objects. A PID control of the microgripper has been implemented. The results of the experiments prove that the PID controller can assure performance suitable for the intended applications.