Four d.o.f. Piezoelectric Microgripper Equipped With a Smart CMOS Camera


This letter deals with the design of a micro-eye-in-hand architecture. It consists of a smart camera embedded on a gripper. The camera is a high-speed (10 000 frames/s) complementary metal–oxide–semiconductor sensor of 64 $ times$ 64 pixels. Each pixel measures $35 muhbox{m} times 35 muhbox{m}$ and includes a photodiode, an amplifier, two storage capacitors, and an analog arithmetic unit. The gripper consists of a 4-degree-of-freedom $(y+, y-, z+, z-)$ microprehensile system based on piezoelectric actuators.$hfill$ [2011-0288]

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