I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA
)
Vo
l.
5
,
No
.
2
,
J
u
n
e
201
6
,
p
p
.
6
7
~
7
1
I
SS
N:
2089
-
4856
67
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
J
RA
Desig
n Analy
sis
o
f
a
F
ish
-
Sha
ped
P
VDF
Co
m
plia
nce
M
icro
g
ripper
Nee
t
a
Sa
ha
y
*
,
S
a
njo
y
Da
s
**
*
D
e
p
a
rt
m
e
n
t
o
f
A
p
p
li
e
d
El
e
c
tro
n
ic &
In
str
u
m
e
n
tatio
n
E
n
g
in
e
e
rin
g
,
A
c
a
d
e
m
y
o
f
T
e
c
h
n
o
lo
g
y
,
W
e
st
Be
n
g
a
l,
In
d
ia
*
*
De
p
a
rt
m
e
n
t
o
f
En
g
in
e
e
rin
g
&
T
e
c
h
n
o
lo
g
ica
l
S
tu
d
ies
,
Un
iv
e
rsity
o
f
Ka
l
y
a
n
i,
W
e
st Ben
g
a
l,
In
d
ia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Feb
10
,
2
0
1
6
R
ev
i
s
ed
A
p
r
28
,
2
0
1
6
A
cc
ep
ted
Ma
y
15
,
2
0
1
6
In
t
h
is
stu
d
y
th
e
d
e
sig
n
a
n
d
a
n
a
ly
sis
o
f
c
o
m
p
li
a
n
c
e
m
icro
g
rip
p
e
r
m
a
d
e
o
f
p
iez
o
e
lec
tri
c
P
V
DF
(
P
o
ly
V
in
y
li
d
e
n
e
F
l
u
o
ri
d
e
)
m
a
teria
l
is
p
re
s
e
n
ted
.
T
h
e
in
v
e
rse
p
iez
o
e
lec
tri
c
e
ff
e
c
t
h
a
s
b
e
e
n
u
se
d
in
w
h
ich
th
e
re
q
u
ired
a
m
o
u
n
t
o
f
v
o
lt
a
g
e
h
a
s
b
e
e
n
a
p
p
li
e
d
a
t
sp
e
c
if
i
c
p
o
in
ts
a
t
th
e
b
a
se
o
f
th
e
s
tru
c
tu
re
t
o
p
ro
d
u
c
e
th
e
f
o
rc
e
a
t
th
e
ti
p
a
n
d
th
e
re
b
y
th
e
n
e
c
e
ss
a
r
y
d
e
f
le
c
ti
o
n
f
o
r
g
rip
p
in
g
.
T
h
e
si
m
u
late
d
re
su
lt
s
o
f
f
re
q
u
e
n
c
y
re
sp
o
n
se
,
f
o
rc
e
-
v
o
lt
a
g
e
re
lati
o
n
sh
i
p
a
n
d
d
isp
lac
e
m
e
n
t
a
n
a
l
y
sis a
re
p
re
se
n
t
e
d
.
K
ey
w
o
r
d
:
C
o
m
p
lia
n
t
S
tr
u
ctu
r
e
Mic
r
o
g
r
ip
p
er
P
iezo
elec
tr
icity
P
VDF
Co
p
y
rig
h
t
©
201
6
In
s
t
it
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Nee
ta
Sah
a
y
,
Dep
ar
te
m
en
t o
f
A
p
p
lied
E
lectr
o
n
ic
&
I
n
s
tr
u
m
e
n
tatio
n
E
n
g
i
n
ee
r
in
g
,
A
ca
d
e
m
y
o
f
T
ec
h
n
o
lo
g
y
,
A
d
is
ap
ta
g
r
a
m
,
W
est B
en
g
al,
I
n
d
ia
.
E
m
ail:
n
ee
tas
h
y
8
2
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
P
iezo
elec
tr
icity
is
a
l
in
ea
r
c
o
u
p
lin
g
b
et
w
ee
n
elec
tr
ical
a
n
d
m
ec
h
a
n
ical
p
r
o
ce
s
s
es
.
I
n
th
e
d
ir
ec
t
p
iezo
elec
tr
ic
ef
f
ec
t,
w
h
e
n
a
p
iezo
elec
ctr
ic
m
ater
ial
is
co
m
p
r
ess
ed
,
an
elec
tr
ic
p
o
lar
izatio
n
is
f
o
r
m
ed
ac
r
o
s
s
th
e
m
ater
ial.
P
o
l
y
v
in
y
lid
e
n
e
-
f
lu
o
r
id
e
(
P
VDF)
i
s
a
p
iezo
e
lectr
ic
p
o
l
y
m
er
,
w
h
ich
f
o
r
ac
tu
ato
r
ap
p
licatio
n
s
o
f
ten
co
m
e
in
t
h
e
f
o
r
m
o
f
a
th
i
n
s
h
ee
t (
3
0
m
icr
o
n
s
t
h
ick
)
.
P
VDF
is
t
y
p
icall
y
a
s
e
m
i
-
cr
y
s
tal
lin
e
p
o
l
y
m
er
t
h
at
is
ap
p
r
o
x
i
m
atel
y
5
0
%
a
m
o
r
p
h
o
u
s
.
I
t
is
m
o
s
t
co
m
m
o
n
l
y
s
y
n
th
e
s
ized
t
h
r
o
u
g
h
t
h
e
f
r
ee
r
ad
ical
p
o
l
y
m
er
i
za
tio
n
o
f
1
,
1
-
d
if
l
u
o
r
o
eth
y
le
n
e.
T
h
e
m
ed
iu
m
f
o
r
s
y
n
t
h
esi
s
is
u
s
u
all
y
w
a
ter
w
it
h
p
er
o
x
y
co
m
p
o
u
n
d
s
ac
ti
n
g
a
s
th
e
p
o
l
y
m
er
izatio
n
ca
tal
y
s
t
s
.
T
h
e
s
tr
u
ctu
r
e
o
f
t
h
e
m
o
n
o
m
er
is
–
C
H2
–
C
F2
–
,
an
d
th
e
c
h
ai
n
s
o
cc
u
r
m
o
s
tl
y
i
n
a
h
ea
d
to
tail
co
n
f
i
g
u
r
atio
n
.
T
h
e
m
o
lecu
lar
w
ei
g
h
t
o
f
P
VDF
r
e
m
ai
n
s
t
y
p
ica
ll
y
b
et
w
ee
n
6
0
an
d
7
0
k
g
/
m
o
l
[
2
]
.
Mic
r
o
g
r
ip
p
er
s
ar
e
m
icr
o
-
d
ev
ice
s
u
s
ed
f
o
r
m
an
ip
u
latio
n
o
f
m
icr
o
-
o
b
j
ec
ts
i
n
m
icr
o
ass
e
m
b
l
y
an
d
m
icr
o
s
u
r
g
er
y
.
I
n
m
icr
o
m
a
n
ip
u
latio
n
a
n
d
m
icr
o
as
s
e
m
b
l
y
s
y
s
te
m
s
,
m
icr
o
-
g
r
ip
p
er
s
ac
t
as
e
n
d
-
e
f
f
ec
to
r
s
w
h
ic
h
co
m
e
i
n
co
n
tact
w
i
th
th
e
m
an
i
p
u
lated
o
b
j
ec
ts
d
ir
ec
tl
y
.
Gr
as
p
in
g
an
d
m
a
n
ip
u
la
tin
g
s
m
all
o
r
m
icr
o
-
o
b
j
ec
ts
ar
e
r
eq
u
ir
ed
f
o
r
a
w
id
e
r
an
g
e
o
f
ap
p
licatio
n
s
,
s
u
c
h
as
t
h
e
a
s
s
e
m
b
l
y
o
f
s
m
a
ll
p
ar
ts
to
o
b
tain
m
icr
o
o
r
m
i
n
iat
u
r
e
s
y
s
te
m
s
,
s
u
r
g
er
y
an
d
r
e
s
ea
r
ch
in
b
io
lo
g
y
a
n
d
b
io
tech
n
o
lo
g
y
[
6
]
.
C
o
m
p
lian
ce
d
esi
g
n
p
r
o
v
i
d
es
s
i
m
p
le,
s
in
g
le
-
s
tr
u
ct
u
r
ed
ele
m
e
n
t a
n
d
ad
d
s
le
s
s
co
m
p
le
x
it
y
in
m
a
n
u
f
ac
t
u
r
in
g
an
d
o
p
er
atio
n
o
f
th
e
m
icr
o
g
r
ip
p
er
s
.
2.
RE
SPO
NS
E
OF
P
VDF
M
I
C
RO
G
RIPP
E
R
2
.
1
.
P
VDF
m
a
t
er
ia
l st
ruct
u
re
A
k
e
y
c
h
ar
ac
ter
is
tic
o
f
t
h
ese
m
ater
ial
s
is
th
e
u
ti
lizatio
n
o
f
th
e
co
n
v
er
s
e
p
iezo
elec
tr
ic
ef
f
ec
t
to
ac
tu
ate
t
h
e
s
tr
u
ct
u
r
e
in
ad
d
itio
n
to
th
e
d
ir
ec
t e
f
f
ec
t to
s
e
n
s
e
s
tr
u
ctu
r
al
d
e
f
o
r
m
atio
n
[
3
]
.
P
V
DF h
a
s
s
h
o
w
n
to
b
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
2
,
J
u
n
e
201
6
:
6
7
–
7
1
68
v
er
y
u
s
e
f
u
l
as
a
d
ielec
tr
ic
,
b
ec
au
s
e
o
f
its
h
i
g
h
p
er
m
itti
v
it
y
an
d
d
ielec
tr
ic
s
tr
en
g
t
h
an
d
lo
w
d
is
s
ip
atio
n
f
ac
to
r
.
C
o
m
p
ar
ed
to
o
th
er
p
o
l
y
m
er
s
an
d
o
th
er
p
iezo
elec
tr
ic
m
ater
i
als
,
i
n
g
en
er
al
,
P
VD
F’s
α
-
p
h
a
s
e
o
cc
u
r
s
i
n
a
tr
a
n
s
-
g
au
c
h
e
-
tr
an
s
-
g
a
u
ch
e
(
T
GT
G)
f
o
r
m
atio
n
[
2
]
.
T
h
is
f
o
r
m
at
io
n
,
as
s
ee
n
i
n
Fig
.
1
,
is
n
o
t
a
h
elica
l
o
r
a
p
lan
ar
zig
za
g
b
u
t
a
co
m
b
i
n
atio
n
o
f
t
h
e
t
w
o
.
E
it
h
er
a
s
er
ies
o
f
G
o
r
T
G
w
o
u
ld
r
ep
r
esen
t
a
p
u
r
el
y
h
elica
l
s
tr
u
ct
u
r
e.
T
h
e
G’
s
r
ep
r
esen
t
th
e
b
o
n
d
s
t
h
at
s
k
e
w
t
h
e
ca
r
b
o
n
b
ac
k
b
o
n
e
f
r
o
m
t
h
e
p
lan
e.
E
ac
h
G
o
r
G
–
b
o
n
d
r
ep
r
esen
ts
a
6
0
°
o
r
–
6
0
°
an
g
le
r
e
s
p
ec
tiv
el
y
f
r
o
m
th
e
p
lan
e
o
f
t
h
e
last
b
o
n
d
.
T
h
e
β
-
cr
y
s
tal
p
h
a
s
e
o
f
P
VDF
f
o
r
m
s
a
p
la
n
ar
zig
za
g
o
r
T
T
,
w
h
er
e
T
r
ep
r
esen
ts
a
tr
an
s
-
b
o
n
d
th
a
t
r
e
m
a
in
s
i
n
t
h
e
s
a
m
e
p
lan
e
a
s
t
h
e
ca
r
b
o
n
b
ac
k
b
o
n
e.
T
h
e
all
-
tr
a
n
s
-
s
tr
u
ct
u
r
e
o
f
β
-
p
h
a
s
e
P
VDF
f
o
r
ce
s
t
h
e
f
l
u
o
r
in
e
at
o
m
s
alo
n
g
t
h
e
ca
r
b
o
n
b
ac
k
b
o
n
e
to
co
m
e
clo
s
e
r
to
g
eth
er
an
d
o
v
er
lap
th
eir
v
a
n
d
er
W
aa
ls
r
ad
ii.
B
ec
au
s
e
o
f
th
e
v
a
n
d
er
W
aa
ls
f
o
r
ce
s
ac
tin
g
b
et
w
ee
n
th
e
ato
m
s
alo
n
g
t
h
e
ca
r
b
o
n
b
ac
k
b
o
n
e
an
d
b
et
w
ee
n
t
h
e
m
o
lec
u
les
o
f
th
e
p
o
l
y
m
er
,
th
e
β
-
p
h
ase
h
as
ac
t
u
all
y
m
o
r
e
in
ter
m
o
lec
u
lar
s
tab
ili
t
y
,
w
h
ile
th
e
α
-
p
h
a
s
e
is
f
av
o
u
r
ed
o
n
an
in
tr
a
m
o
lec
u
lar
b
asis
.
Fig
u
r
e
1
.
Stru
ct
u
r
e
o
f
α
-
P
VDF
(
lef
t)
an
d
β
-
P
VDF
(
r
ig
h
t)
2
.
2
.
P
VDF
M
ic
ro
g
ripper
D
esig
n
T
h
e
d
esig
n
f
o
r
th
e
p
r
o
p
o
s
ed
m
icr
o
g
r
ip
p
er
u
s
in
g
P
r
o
R
elea
s
e
5
.
0
s
o
f
t
w
ar
e
h
a
s
b
ee
n
g
iv
e
n
i
n
Fig
u
r
e
2
Fig
u
r
e
2a
.
Desig
n
o
f
m
icr
o
g
r
i
p
p
er
(
A
ll th
e
d
i
m
e
n
s
io
n
s
ar
e
in
m
m
(
T
o
p
v
ie
w
)
Fig
u
r
e
2b
.
Desig
n
o
f
o
f
m
icr
o
g
r
ip
p
er
(
3
D
v
ie
w
)
2
.
3
.
F
re
qu
ency
Respo
ns
e
T
h
e
v
o
ltag
e
o
u
tp
u
t
V
(
s
)
o
f
a
P
VDF
s
en
s
o
r
d
u
e
to
an
ap
p
lied
f
o
r
ce
F
(
s
)
in
lap
lace
d
o
m
ain
ca
n
b
e
w
r
itte
n
as
[
4
]
[
5
]
,
s
s
h
A
d
s
F
s
V
T
1
/
)
(
)
(
33
33
(
1
)
Or
,
s
s
k
s
F
s
V
1
)
(
)
(
,
in
w
h
ic
h
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
A
n
a
lysi
s
o
f a
F
is
h
-
S
h
a
p
ed
P
V
DF
C
o
mp
lia
n
ce
Micr
o
g
r
ip
p
er
(
N
ee
ta
S
a
h
a
y)
69
K
:
co
n
s
tan
t g
ai
n
o
f
t
h
e
s
y
s
t
e
m
=
h
A
d
T
/
33
33
A
:
A
r
ea
o
f
th
e
cr
y
s
tal
p
late
(
m
2
)
,
[
h
er
ein
,
t
h
e
ef
f
ec
ti
v
e
ar
ea
o
f
th
e
f
is
h
s
h
ap
ed
g
r
ip
p
er
]
T
:
T
h
ick
n
es
s
o
f
t
h
e
p
late
(
m
)
T
33
:
Me
ch
an
ical
s
tr
ai
n
in
3
-
d
ir
ec
tio
n
d
u
e
to
ten
s
ile
s
tr
es
s
(
T
)
in
th
e
3
-
d
ir
ec
tio
n
(
w
h
ic
h
r
ep
r
esen
ts
th
e
th
ick
n
e
s
s
d
ir
ec
tio
n
)
(
F
m
-
1
)
(
P
VDF
n
o
r
m
al
d
ielec
tr
ic
co
n
s
ta
n
t)
τ
:
T
im
e
co
n
s
tan
t o
f
P
VDF
s
en
s
o
r
an
d
=
p
p
p
C
R
A
C
h
; I
n
w
h
ic
h
,
A
h
R
p
r
ep
r
esen
ts
th
e
r
esi
s
tan
ce
o
f
P
VDF
s
en
s
o
r
,
an
d
p
C
ar
e
th
e
r
esis
ti
v
it
y
an
d
c
ap
ac
itan
ce
o
f
P
VDF
m
ater
ial
m
ea
s
u
r
ed
in
Ω
m
an
d
F
.
d
33
:
P
VDF
n
o
r
m
al
p
iezo
elec
tr
ic
co
n
s
ta
n
t (
C
N
-
1
)
h
:
d
is
tan
ce
th
r
o
u
g
h
w
h
ic
h
t
h
e
f
o
r
ce
to
b
e
tr
an
s
m
itted
(
m
)
T
h
e
p
o
ly
m
er
co
n
s
id
er
ed
f
o
r
th
is
s
t
u
d
y
is
P
VDF
-
1
0
0
0
w
it
h
a
th
ic
k
n
e
s
s
1m
m
.
He
n
ce
,
f
o
r
th
i
s
s
t
u
d
y
,
33
d
=
33
p
C
/N
=
33
x
1
0
-
12
C
/N
h
=
4
.
8
3
m
m
=
4
.
8
3
x
1
0
-
6
m
T
33
=
7
.
4
F/m
A
=
0
.
5
1
3
m
m
2
[
C
o
m
p
u
ted
ac
co
r
d
in
g
to
d
esi
g
n
]
ρ
=
2
×
10
14
Ω
-
cm
=2
×
10
12
Ω
-
m
k
=
42
x
1
0
-
9
V/N
A
C
h
p
=
ρ
ε
,
[
as
h
A
C
p
]
=
1
4
.
8
x
1
0
12
s
ec
Fro
m
eq
-
(
1
)
ca
n
b
e
w
r
itte
n
as
s
k
s
s
V
s
F
1
)
(
)
(
(
2
)
Fre
q
u
en
c
y
r
an
g
e:
1
0
-
13
to
1
0
-
10
r
ad
/s
ec
.
Fro
m
f
r
eq
u
e
n
c
y
r
esp
o
n
s
e
a
n
a
l
y
s
i
s
as
s
h
o
w
n
in
Fig
.
3
,
it
is
ev
id
en
t
t
h
at
t
h
e
g
a
in
a
n
d
p
h
a
s
e
an
g
le
is
al
m
o
s
t
co
n
s
ta
n
t o
v
er
th
e
f
r
eq
u
e
n
c
y
r
a
n
g
e
o
f
ω
>
1
0
-
1
1
r
ad
/s
ec
.
Fig
u
r
e
3.
Fre
q
u
en
c
y
r
e
s
p
o
n
s
e
o
f
P
VDF
m
icr
o
g
r
ip
p
er
2
.
4
.
T
i
m
e
Respo
n
s
e
T
im
e
r
esp
o
n
s
e
ca
n
b
e
o
b
tain
ed
b
y
tak
i
n
g
i
n
v
er
s
e
lap
lace
tr
an
s
f
o
r
m
o
f
E
q
u
atio
n
(
2
)
,
a
n
d
ca
n
b
e
w
r
itte
n
a
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
2
,
J
u
n
e
201
6
:
6
7
–
7
1
70
]
10
6
.
1
10
8
.
23
[
)
(
6
6
t
V
t
f
(
3
)
W
h
er
e
,
V
is
th
e
a
m
p
lit
u
d
e
o
f
th
e
s
tep
v
o
ltag
e
in
Vo
lt
s
.
T
h
is
g
i
v
es
a
s
tr
aig
h
t
li
n
e
p
ar
allel
t
o
ti
m
e
-
ax
i
s
f
o
r
th
e
ti
m
e
s
ca
le
up
to
1
0
6
s
ec
.
3.
VO
L
T
A
G
E
-
F
O
RCE
R
E
L
A
T
I
O
NS
As
it
i
s
s
ee
n
f
r
o
m
E
q
u
atio
n
(
3
)
th
at
t
h
e
v
ar
iat
io
n
o
f
f
o
r
ce
w
it
h
r
e
s
p
ec
t
to
ti
m
e
is
v
er
y
s
lo
w
f
o
r
a
co
n
s
ta
n
t
f
o
r
ce
,
t
i
m
e
s
ca
le
o
f
in
ter
est
i
s
ch
o
s
en
as
0
to
1
0
s
ec
,
f
o
r
w
h
ic
h
it
i
s
clea
r
f
r
o
m
eq
.
(
3
)
th
at
t
h
e
g
en
er
ated
f
o
r
ce
)
(
t
f
m
ai
n
tain
s
a
li
n
ea
r
r
elatio
n
s
h
ip
w
it
h
V
(
t
)
as
wr
itten
b
elo
w
:
)
(
8
.
23
)
(
t
V
t
f
N
(
4
)
Var
y
in
g
t
h
e
v
o
lta
g
e
f
r
o
m
0
µ
V
to
5
µV
in
0.
1
µV
s
tep
,
th
e
v
o
ltag
e
-
f
o
r
ce
d
iag
r
a
m
ca
n
t
h
u
s
b
e
o
b
tain
ed
as
s
h
o
w
n
in
F
ig
u
r
e
4
.
Fig
u
r
e
4.
Fo
r
ce
Vo
ltag
e
re
latio
n
o
f
P
VDF
m
icr
o
g
r
ip
p
er
3
.
1
.
S
t
re
s
s
a
nd
Dis
pla
ce
m
en
t
a
na
ly
s
is
T
h
e
ab
o
v
e
d
esig
n
h
a
s
b
ee
n
an
al
y
ze
d
w
ith
C
r
eo
E
le
m
e
n
t/ P
r
o
R
elea
s
e
5
.
0
s
o
f
t
w
ar
e.
T
h
e
g
r
ip
p
er
h
as
b
ee
n
s
u
b
j
ec
ted
to
th
e
f
o
r
ce
o
f
2
0
N
in
th
e
(
–
v
e)
z
-
d
ir
ec
tio
n
at
th
e
b
ase.
T
h
e
co
r
r
esp
o
n
d
in
g
an
al
y
s
i
s
o
f
s
tr
es
s
r
esu
lt a
n
d
d
is
p
lace
m
e
n
t a
r
e
co
m
p
u
ted
an
d
p
r
esen
ted
in
Fi
g
.
5
an
d
Fig
.
6
r
esp
ec
tiv
el
y
.
Fig
u
r
e
5.
Stre
s
s
d
is
tr
ib
u
tio
n
i
n
MP
a.
Ma
x
i
m
u
m
s
tr
ess
h
as b
ee
n
e
v
al
u
ated
as 3
.
5
9
×1
0
2
M
P
a
Fig
u
r
e
6.
Dis
p
lace
m
e
n
t a
n
a
l
y
s
is
in
m
m
.
Ma
x
i
m
u
m
d
is
p
lace
m
e
n
t h
a
s
b
ee
n
ev
al
u
ated
b
y
0
.
2
8
7
mm
4.
CO
NCLU
SI
O
N
Fro
m
t
h
e
ab
o
v
e
e
x
p
lan
a
tio
n
s
,
it
ca
n
b
e
s
ee
n
t
h
at
f
o
r
ce
-
v
o
lt
ag
e
r
elatio
n
s
h
ip
is
li
n
ea
r
in
t
h
e
r
an
g
e
o
f
in
ter
est.
So
i
f
th
e
r
eq
u
ir
ed
v
al
u
e
o
f
v
o
lta
g
e
w
ill
b
e
ap
p
lied
at
th
e
b
ase
o
f
th
e
m
icr
o
g
r
ip
p
er
,
th
e
v
o
ltag
e
w
il
l
b
e
tr
an
s
m
itted
o
v
er
t
h
e
b
o
d
y
a
n
d
w
ill
ca
u
s
e
th
e
g
e
n
er
atio
n
o
f
f
o
r
ce
at
th
e
tip
o
f
th
e
g
r
ip
p
er
r
esu
lt
in
g
o
p
en
i
n
g
an
d
clo
s
in
g
o
f
t
h
e
m
icr
o
g
r
ip
p
er
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
A
n
a
lysi
s
o
f a
F
is
h
-
S
h
a
p
ed
P
V
DF
C
o
mp
lia
n
ce
Micr
o
g
r
ip
p
er
(
N
ee
ta
S
a
h
a
y)
71
RE
F
E
R
E
NC
E
S
[
1
]
L
a
u
ra
M
a
rie L
e
d
iae
v
.
,
“
M
o
d
e
li
n
g
Pi
e
zo
e
lec
tric P
v
d
f
S
h
e
e
ts
W
it
h
C
o
n
d
u
c
ti
v
e
Po
lym
e
r E
lec
tro
d
e
s”
,
A
p
ril
2
0
0
6
.
[
2
]
Da
n
iel
M
.
Esterly
.,
“
M
a
n
u
f
a
c
tu
rin
g
o
f
Po
ly
(
v
in
y
li
d
e
n
e
fl
u
o
ri
d
e
)
a
n
d
Eva
l
u
a
ti
o
n
o
f
it
s
M
e
c
h
a
n
i
c
a
l
Pro
p
e
rties
”
,
A
u
g
u
st 9
,
2
0
0
2
.
[
3
]
W
e
n
ji
A
ia.,
Qin
g
so
n
g
X
u
.
,
“
Ov
e
rv
ie
w
o
f
f
lex
u
re
-
b
a
se
d
c
o
m
p
li
a
n
t
m
icro
g
rip
p
e
rs
”,
Ad
v
a
n
c
e
s
in
Ro
b
o
ti
c
s
Res
e
a
rc
h
,
Vo
l.
1
,
N
o
.
1
(
2
0
1
4
)
0
0
1
-
0
1
9
.
[
4
]
Ja
y
a
n
t
S
iro
h
i
.
,
In
d
e
rji
t
Ch
o
p
ra
.
,
”
Fu
n
d
a
me
n
ta
l
Un
d
e
rs
ta
n
d
in
g
o
f
Pi
e
zo
e
lec
tric
S
tra
i
n
S
e
n
s
o
rs
”
,
Un
iv
e
rsity
o
f
M
a
ry
l
a
n
d
,
Co
ll
e
g
e
P
a
rk
,
A
p
ril
2
0
0
0
.
[
5
]
Ca
r
m
e
n
K.
M
.
F
u
n
g
.
,
I
m
a
d
El
h
a
j
,
W
e
n
J.
L
il
.
,
Nin
g
X
i.
,
“
A
2
-
D
PV
DF
Fo
rc
e
ma
n
ip
u
l
a
ti
o
n
S
e
n
sin
g
S
y
ste
m
fo
r
M
icr
o
a
n
d
M
icr
o
-
a
ss
e
mb
ly”
,
P
ro
c
e
e
d
in
g
s
o
f
th
e
2
0
0
2
I
EE
E
.
[
6
]
P
h
il
i
p
p
e
Be
n
e
c
h
.
,
Eri
c
Ch
a
m
b
e
ro
d
.
,
Ch
risti
a
n
M
o
n
ll
o
r.
,
“
A
c
c
e
lera
ti
o
n
M
e
a
su
re
m
e
n
t
Us
in
g
P
V
DF”
,
IEE
E
T
ra
n
sa
c
ti
o
n
s O
n
Ultr
a
so
n
ics
,
Fer
ro
e
lec
trics
,
An
d
Fre
q
u
e
n
c
y
Co
n
tr
o
l,
V
o
l.
4
3
,
No
.
5
,
S
e
p
tem
b
e
r 1
9
9
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.