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Design and shape deposition manufacturing (SDM) fabrication of a PZT-actuated tool for micromanipulation

In this paper a novel tool for micromanipulation is presented. The device has been purposely designed for integration in small mobile microrobots, aimed at performing cooperative precision manipulation and assembly tasks. Concerning the actuation, multilayer piezoceramic components were developed and employed. The selected low-cost fabrication technique is shape deposition manufacturing (SDM), and different alternatives have been investigated, in order to select the optimal design. Several prototypes have been fabricated, and preliminary experimental tests have been performed, both regarding the characterization and the grasping capabilities.