Electric characterization of a Bioinspired Gripper

Authors

  • Alan Jesús Estrada Cabrera Universidad Autónoma del Estado de Morelos, Maestría en Ingeniería y Ciencias Aplicadas. Cuernavaca, Morelos. México
  • Margarita Tecpoyotl-Torres Universidad Autónoma del Estado de Morelos. Centro de Investigación en Ingeniería y Ciencias Aplicadas, CIICAp. Cuernavaca, Morelos. México https://orcid.org/0000-0002-4336-3771
  • Pedro Vargas-Chable Universidad Autónoma del Estado de Morelos. Centro de Investigación en Ingeniería y Ciencias Aplicadas, CIICAp. Cuernavaca, Morelos. México https://orcid.org/0000-0002-2290-3740
  • Ramón Cabello-Ruiz Universidad Autónoma del Estado de Morelos. Facultad de Ciencias Químicas e Ingeniería, FCQeI. Cuernavaca, Morelos. México https://orcid.org/0000-0003-3215-5034

DOI:

https://doi.org/10.30973/progmat/2023.15.3/1

Keywords:

MEMS, Microgripper, Scaling, ANSYS, Electrothermal actuation, Aluminium 6053, Amplification mechanism

Abstract

This work focuses on a normally open bioinspired microgripper, which corresponds to the Microelectromechanical Systems (MEMS) field, as well as on its scaling and fabrication process in aluminum 6053 for performance testing. The design was inspired by the mandibles of ants. Its structure is composed of a flexible M-type amplifier and a Z-shaped chevron actuator. The design and simulation were performed using ANSYSTM. The aluminum resistivity and the equivalent resistance of the gripper were calculated, and experimental tests were carried out with an inductor (L), capacitor (C) and resistor (R) electrical property meter, LCR. Experimental characterization of the gripper was carried out, applying a sweep of electric current from 5 up to 60 A to the actuator. The temperature values were registered using a thermographic camera; the displacement was determined using a microscope. The average error between numerical and experimental results of the actuator shaft temperature is lower than 13%.

Author Biographies

Alan Jesús Estrada Cabrera, Universidad Autónoma del Estado de Morelos, Maestría en Ingeniería y Ciencias Aplicadas. Cuernavaca, Morelos. México

Alan J. Estrada Cabrera received the bachelor’s degree in Mechatronics Engineering from the Universidad Tecnológica Emiliano Zapata, Mexico (2021). He is currently pursuing a master’s degree in engineering and applied sciences (CIICAp-UAEM). His main research interests include MEMS, devices design using CAD, additive manufacturing, characterization techniques, and Bioinspiration.

Margarita Tecpoyotl-Torres, Universidad Autónoma del Estado de Morelos. Centro de Investigación en Ingeniería y Ciencias Aplicadas, CIICAp. Cuernavaca, Morelos. México

Margarita Tecpoyotl Torres received the Mathematician degree from the University of Puebla, Mexico (1991). She was also graduated as Electronic Engineer (1993). She received the M.Sc. and Ph.D. degrees in Electronics from National Institute of Astrophysics, Optics and Electronics, INAOE, México (1997 and 1999, respectively). Dr. Tecpoyotl works, since 1999, at UAEM, Mexico, where she is currently titular professor. She has been visiting research scientist at University of Bristol (2001), UK. She led the Winner team of Boot Camp, UAEM Potential, obtaining support to participate in Full Immersion Program, USA (2014). She was co-founder of INNTECVER (2014). She won the 3rd place in the Royal Academy of Engineering´s Leaders in Innovation Fellowships final pitch session, in UK (2015). Her main research interest includes MEMS, Antenna design, entrepreneurship, innovation; and development of educational programs. She holds the status of National Researcher (SNI), since 1999.

Pedro Vargas-Chable, Universidad Autónoma del Estado de Morelos. Centro de Investigación en Ingeniería y Ciencias Aplicadas, CIICAp. Cuernavaca, Morelos. México

Pedro Vargas Chable received the B. Sc. Degree by the Autonomous University Juarez from Tabasco in 2008. From 2009 to 2012, he was Technical Specialist Assessment of Lighting Conditions and Non-Ionizing Radiation, NOM-025-STPS-2008 and NOM-013-STPS-1993 respectively, in Environmental Technology S.A of C.V. In 2014 and 2019 he received the M.Sc. Degree and the Ph. D., respectively from the Autonomous University of Morelos State (UAEM). His current research interests are FEA, microgripper, microactuator design and characterization, and VLSI.

Ramón Cabello-Ruiz, Universidad Autónoma del Estado de Morelos. Facultad de Ciencias Químicas e Ingeniería, FCQeI. Cuernavaca, Morelos. México

Ramon Cabello Ruíz received the Engineer Mechanical degree from the Autonomous University of the State of Morelos, Mexico (2010). He received the M. Eng. And Ph.D. degrees in Center for Research in Engineering and Applied Sciences, Mexico (2012 and 2017, respectively). He holds three SolidWorks certifications, (Mechanical Design level Associate, Mechanical Design level Professional, and Simulation level Associate). Dr. Cabello Works, since 2019, at UAEM, Mexico, where he is a part-time profesor. His area of expertise focuses on the design and mechanical analysis of microelectromechanical systems. He holds the status of National Researcher (SIN), since 2023.

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Published

2023-10-27

How to Cite

Estrada Cabrera, A. J., Tecpoyotl-Torres, M., Vargas-Chable, P., & Cabello-Ruiz, R. (2023). Electric characterization of a Bioinspired Gripper. Programación Matemática Y Software, 15(3), 1–12. https://doi.org/10.30973/progmat/2023.15.3/1

Issue

Vol. 15 No. 3 (2023): October, 2023

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Articles

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Copyright (c) 2023 Alan Jesús Estrada Cabrera, Margarita Tecpoyotl-Torres, Pedro Vargas-Chable, Ramón Cabello-Ruiz

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