Design of a Monolithic Double-Slider Based Compliant Gripper with Large Displacement and Anti-Buckling Ability

In a micro-manipulation system, the compliant gripper is used for gripping, handling and assembling of objects. Large displacement and anti-buckling characteristics are desired in the design of the gripper. In this paper, a compliant gripper with these two characteristics is proposed, modelled and v...

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Bibliographic Details
Published in:Micromachines (Basel) 2019-09, Vol.10 (10), p.665
Main Authors: Hao, Guangbo, Zhu, Jiaxiang
Format: Article
Language:English
Subjects:
Aluminum base alloys
anti-buckling
Buckling
Compliance
compliant gripper
Deformation
Design
Displacement
Finite element method
Flexing
Kinematics
large motion
Mathematical analysis
Mathematical models
Micromanipulation
Milling (machining)
Model testing
modelling
Optimization
Stress concentration
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Summary:In a micro-manipulation system, the compliant gripper is used for gripping, handling and assembling of objects. Large displacement and anti-buckling characteristics are desired in the design of the gripper. In this paper, a compliant gripper with these two characteristics is proposed, modelled and verified. The large displacement is enabled by using distributed compliance in a double-slider kinematic mechanism. An inverted flexure arrangement enables the anti-buckling of the gripper when closing the two jaws. A pseudo-rigid-body model (PRBM) method with the help of virtual work principle is employed to obtain several desired analytical relations including the amplification coefficient and kinetostatics. The results of the finite element analysis (FEA) are shown to be consistent with the results of the derived analytical model. An experimental test was carried out through a milling machined aluminium alloy prototype, the results of which verify the good performance of the compliant gripper.
ISSN:2072-666X
2072-666X
DOI:10.3390/mi10100665