Design and analysis of a novel micro-gripper with completely parallel movement of gripping arms

Shunli Xiao, Yangmin Li, Xinhua Zhao

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

18 Citations (Scopus)

Abstract

The paper presents the design and analysis of a micro-gripper which has absolutely parallel movement of the gripping arms when it grasps or releases micro objects. By employing a compact displacement amplifier and several flexure supporting hinges, a novel gripper with simple symmetrical structure driven by piezoelectric actuators has been designed. The kinematics and dynamic modeling of the gripper are conducted by resorting to compliance and stiffness analysis based on matrix method, which are validated by finite-element analysis (FEA). Both FEA and the compliacne/matrix model have well validated the movement of the gripping arms moving completely symmetrical parallel without any rotation, stretch or expansion. With the proper amplification ratio and the stroke of the PZT, the designed gripper has a large movement range, the displacement of the arms can reach 300m, which has great potential in applications.
Original languageEnglish
Title of host publicationProceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
Pages2127-2132
Number of pages6
DOIs
Publication statusPublished - 5 Sep 2011
Externally publishedYes
Event2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011 - Beijing, China
Duration: 21 Jun 201123 Jun 2011

Conference

Conference2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
Country/TerritoryChina
CityBeijing
Period21/06/1123/06/11

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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