Design, Test, and Micromanipulation using an Ionic Polymer Metal Composite Microgripper

The goal of this work is to develop a microgripper using an electroactive ionic polymer metal composite (IPMC) as an actuator to grasp and manipulate micro-sized flexible and rigid objects. We derive a theoretical force model for the microgripper that estimates that an IPMC finger exerts a force of 85 μN when grasping a solder ball of 15 mg, and experimentally verify the result. We also show empirically that the relationship between load carry capability and the length of microgripper fingers is linear. We show how flexible objects (hydrogels in this case) are grasped with this IPMC microgripper. Finally, a microgripper finger that is simultaneously an actuator and a sensor is described, along with performance measurements.