Development of mesoscopic polymer gripper system guided by precision design axioms

A prototype mesoscopic gripper system with mechanism made of polyurethane (PU) is designed, fabricated, and tested. By following precision design axioms, the mesoscopic gripper system including gripper mechanism, actuator subsystem, and sensor subsystem is designed and developed. The compliant gripper mechanism is fabricated and the load-deflection behavior is measured. The mesoscopic mechatronic gripper system is finally integrated and tested. The gripper dynamics is identified and the system specifications are listed. The application of the gripper system for the pick and place of an IC chip is tested.