Direct Kinetostatic Analysis of a Gripper with Curved Flexures

Micro-electro-mechanical-systems (MEMS) extensively employed planar mechanisms with elastic curved beams. However, using a curved circular beam as a flexure hinge, in most cases, needs a more sophisticated kinetostatic model than the conventional planar flexures. An elastic curved beam generally all...

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Bibliographic Details
Published in:Micromachines (Basel) 2022-12, Vol.13 (12), p.2172
Main Authors: Cammarata, Alessandro, Maddio, Pietro Davide, Sinatra, Rosario, Belfiore, Nicola Pio
Format: Article
Language:English
Subjects:
Case studies
CFSH
Compliance
compliant mechanism
Curved beams
Equilibrium
Flexing
flexure
Iterative methods
Kinematics
Mathematical analysis
micro-grippers
micro-manipulators
Microelectromechanical systems
Real time operation
Sliding friction
Stiffness matrix
the tangent stiffness matrix
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Summary:Micro-electro-mechanical-systems (MEMS) extensively employed planar mechanisms with elastic curved beams. However, using a curved circular beam as a flexure hinge, in most cases, needs a more sophisticated kinetostatic model than the conventional planar flexures. An elastic curved beam generally allows its outer sections to experience full plane mobility with three degrees of freedom, making complex non-linear models necessary to predict their behavior. This paper describes the direct kinetostatic analysis of a planar gripper with an elastic curved beam is described and then solved by calculating the tangent stiffness matrix in closed form. Two simplified models and different contributions to derive their tangent stiffness matrices are considered. Then, the Newton-Raphson iterative method solves the non-linear direct kinetostatic problem. The technique, which appears particularly useful for real-time applications, is finally applied to a case study consisting of a four-bar linkage gripper with elastic curved beam joints that can be used in real-time grasping operations at the microscale.
ISSN:2072-666X
2072-666X
DOI:10.3390/mi13122172