Microgrippers that incorporate soft actuators are appropriate for micromanipulation or microsurgery owing to their ability to grasp objects without causing damage. However, developing a microgripper with a large gripping range that can produce a large force with high speed remains challenging in soft actuation mechanisms. Herein, we introduce a compliant microgripper driven by a soft dielectric elastomer actuator (DEA) called a spiral flexure cone DEA (SFCDEA). The submillimeter-scale SFCDEA exhibited a controllable linear displacement over a high bandwidth and the capability of lifting 100.9 g, which was 670 times higher than its mass. Subsequently, we developed a compliant microgripper based on the SFCDEA using smart composite microstructure technology to fabricate three-dimensional gripper linkages. We demonstrated that the microgripper was able to grasp various millimeter-scale objects with different shapes, sizes, and weights without a complex feedback control owing to its compliance. We proved the versatility of our gripper in robotic manipulation by demonstrating adaptive grasping and releasing of small objects using vibrations owing to its high bandwidth.

中文翻译：

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软聚合物驱动的顺应性微夹具，具有自适应振动控制抓取和释放功能。


包含软执行器的微夹具适用于显微操作或显微外科手术，因为它们能够抓取物体而不造成损坏。然而，开发一种具有大抓取范围、能够高速产生大力的微夹具在软致动机构中仍然具有挑战性。在此，我们介绍了一种由称为螺旋挠曲锥 DEA (SFCDEA) 的软介电弹性体致动器 (DEA) 驱动的顺应性微夹具。亚毫米级SFCDEA表现出高带宽下的可控线性位移和提升100.9克的能力，这是其质量的670倍。随后，我们开发了一种基于 SFCDEA 的兼容微夹具，使用智能复合微结构技术来制造三维夹具连杆。我们证明，由于其顺应性，微夹具能够抓取具有不同形状、尺寸和重量的各种毫米级物体，而无需复杂的反馈控制。我们通过利用其高带宽的振动来演示自适应抓取和释放小物体，证明了我们的夹具在机器人操作中的多功能性。