「光機電系統控制研究室」歷年於微夾持系統上之研究，已開發出形狀記憶合金致動高分子微夾持器，本文根據該研究經驗與資源，整合生醫顯微鏡、形狀記憶合金致動器而完成生醫環境使用之微夾持器。本文在設計與製造流程確認後，即進行夾持器之分析以利於致動器之選擇，接著進行致動器之分析與靜態建模，並探討其正確性。最後夾持器經過測試，可於水面下夾持與搬運23-35μm之粒子，完成生醫用微夾持器之設計。

　　According to the researches of micro-gripping system in the “OME System Lab” in recent years, a polymer micro gripper actuated by shape-memory alloy has been developed. This study is based on their experiences and resources, and integrates the biomedical microscope and SMA actuator to accomplish a micro-gripper which can work in the biomedical environment. After confirming the procedure of design and manufacture of micro-gripper, we analyzed it for choosing micro-actuator. Then we analyzed the actuator and created a static hysteresis model of it. The repeatability of open-loop control is discussed. Finally, we test the functions of the designed gripper system. The test result reveals that the gripper system can grasp a spherical particle with diameter 23-35μm under water.

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