Design and simulation of the microgripper capable of vibratory release

The paper presents a microgripper capable of autonomous release of micro objects. Release of adhered micro objects is achieved by vibration of end effectors. An impact bar embedded in a bistable mechanism (BM) causes the vibratory motion of the end effectors. Combination with BM, the microgripper needs less power input during hold and pick the objects. Finite element method assists to predict the nonlinear behavior of the BM and the viration process. The residual stress of the mechanism had considered to protect the device in the operation process. The vibration of the mechanism occurs in a short time make the object release easily the gripper arm. The compliant structure of the gripper supplies no lubrication, friction and wear for its operation