Microgripper having linearly actuated grasping mechanisms

• US 20030201654A1
• Filed: 04/26/2002
• Published: 10/30/2003
• Est. Priority Date: 04/26/2002
• Status: Abandoned Application

• Current Assignee: Zyvex Corporation
• Original Assignee: Zyvex Corporation
• Inventors: Ellis, Matthew D.
• Application Number:
  US10/133,936
• Publication Number:
  US 20030201654A1
• Time in Patent Office: Days
• US Class Current: 294/119.1
• CPC Class Codes: B25J 15/00 Gripping heads and other end effectors grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used in the manufacture of semiconductors H01L21/68707; gripping means used for mounting electrical components H05K13/04
• CPC Class Codes: B25J 7/00 Micromanipulators specimen supports for investigating or analysing materials G01N23/2204; associated with microscopes G02B21/32; means for supporting or positioning the objects or the material in discharge tubes H01J37/20
• CPC Class Codes: B81C 99/002 Apparatus for assembling MEMS, e.g. micromanipulators micromanipulators per se B25J7/00

Abstract

A system and method are disclosed that provide a microgripper having a linearly actuated grasping mechanism. According to one embodiment, a microgripper comprises at least one grasping mechanism. The microgripper further comprises at least one linear microactuator mechanism operable to impart linear movement to the grasping mechanism(s). In certain implementations, the grasping mechanism(s) comprise two arms that are arranged substantially parallel to each other. Further, in certain implementations the linear microactuator mechanism comprises a linear stepper actuator. Such linear microactuator mechanism is preferably coupled to the arms such that actuation of the linear microactuator mechanism imparts linear movement to the arms.

Claims

1. A microgripper comprising:

at least one grasping mechanism; and

at least one linear microactuator mechanism operable to impart linear movement to said at least one grasping mechanism.

2. The microgripper of claim 1 wherein said at least one grasping mechanism comprises at least one arm.

3. The microgripper of claim 1 wherein said at least one grasping mechanism comprises two arms arranged substantially parallel to each other.

4. The microgripper of claim 1 wherein said at least one linear microactuator mechanism comprises a linear stepper actuator.

5. The microgripper of claim 1 wherein said at least one linear microactuator mechanism comprises an electrostatic-driven linear stepper.

6. The microgripper of claim 1 wherein said at least one linear microactuator mechanism comprises a thermal-driven linear stepper.

7. The microgripper of claim 1 wherein said at least one linear microactuator mechanism comprises a scratch-drive actuator.

8. The microgripper of claim 1 wherein said at least one grasping mechanism comprises at least one arm, and wherein said at least one linear microactuator mechanism comprises a member that is coupled to said at least one arm such that actuation of said linear microactuator mechanism imparts linear movement to said at least one arm.

9. The microgripper of claim 1 wherein said at least one grasping mechanism comprises two arms, and wherein said at least one linear microactuator mechanism comprises at least one microactuator operable to impart linear movement to one of said two arms and said at least one linear microactuator mechanism further comprises at least one microactuator operable to impart linear movement to the other of said two arms.

10. The microgripper of claim 9 wherein said at least one linear microactuator mechanism is controllably operable to impart movement to said two arms to cause said two arms to move in opposite directions.

11. The microgripper of claim 9 wherein said at least one linear microactuator mechanism is controllably operable to impart movement to said two arms to cause said two arms to move in a common direction.

12. The microgripper of claim 1 wherein said at least one grasping mechanism maintains any position to which said at least one linear microactuator mechanism has moved the at least one grasping mechanism when no power is applied to said at least one linear microactuator mechanism.

13. The microgripper of claim 1 wherein said at least one grasping mechanism comprises:

a plurality of grasping mechanisms.

14. The microgripper of claim 13 wherein each of said plurality of grasping mechanisms are independently operable to grasp objects.

15. The microgripper of claim 13 wherein said at least one linear microactuator mechanism comprises a plurality of linear microactuator mechanisms, and wherein at least one linear microactuator is coupled to each of said plurality of grasping mechanisms.

16. The microgripper of claim 15 wherein each of said plurality of linear microactuator mechanisms is independently operable to impart movement to a grasping mechanism to which it is coupled.

17. A system comprising:

at least one microgripper that comprises a means for grasping an object and a means for imparting linear movement to said grasping means.

18. The system of claim 17 wherein said grasping means comprises at least one arm.

19. The system of claim 17 wherein said grasping means comprises two arms arranged substantially parallel to each other.

20. The system of claim 17 wherein said means for imparting linear movement comprises a microactuator.

21. The system of claim 17 wherein said means for imparting linear movement comprises a linear stepper actuator.

22. The system of claim 17 wherein said means for imparting linear movement comprises an electrostatic-driven linear stepper.

23. The system of claim 17 wherein said means for imparting linear movement comprises a thermal-driven linear stepper.

24. The system of claim 17 wherein said means for imparting linear movement comprises a scratch-drive actuator.

25. The system of claim 17 wherein said grasping means comprises two arms, and wherein said means for imparting linear movement comprises at least one means for imparting linear movement to one of said two arms and further comprises at least one means for imparting linear movement to the other of said two arms.

26. The system of claim 17 wherein said grasping means comprises two arms, and wherein said means for imparting linear movement is controllably operable to impart movement to said two arms to cause said two arms to move in opposite directions.

27. The system of claim 17 wherein said grasping means comprises two arms, and wherein said means for imparting linear movement is controllably operable to impart movement to said two arms to cause said two arms to move in a common direction.

28. The system of claim 17 wherein said grasping means maintains any position to which said means for imparting linear movement has moved the grasping means when no power is applied to said means for imparting linear movement.

29. The system of claim 17 further comprising:

control means for controlling the operation of said means for imparting linear movement.

30. The system of claim 17 further comprising:

transporting means for transporting said microgripper from a first location to a second location.

31. The system of claim 17 wherein said transporting means comprises a robotic arm.

32. A method for grasping an object, said method comprising:

activating at least one linear microactuator mechanism of a microgripper device; and

said at least one linear microactuator mechanism imparting linear movement to at least one grasping mechanism of said microgripper device to cause said at least one grasping mechanism to engage said object.

33. The method of claim 32 wherein said at least one grasping mechanism comprises at least one arm.

34. The method of claim 32 wherein said at least one grasping mechanism comprises two arms arranged substantially parallel to each other.

35. The method of claim 34 wherein said step of said at least one linear microactuator mechanism imparting linear movement to said at least one grasping mechanism causes said two arms of said at least one grasping mechanism to engage said object therebetween.

36. The method of claim 32 wherein said at least one linear microactuator mechanism comprises a linear stepper actuator.

37. The method of claim 32 wherein said step of activating said at least one linear microactuator mechanism comprises supplying power to said at least one linear microactuator.

38. The method of claim 32 further comprising:

deactivating said at least one linear microactuator mechanism.

39. The method of claim 38 wherein said step of deactivating said at least one linear microactuator mechanism comprises removing power from said at least one linear microactuator.

40. The method of claim 38 further wherein said at least one grasping mechanism of said microgripper remains engaged with said object after deactivating said at least one linear microactuator mechanism.

41. The method of claim 32 wherein said object comprises a microcomponent.