Design and optimization of a decoupled serial constant force microgripper for force sensitive objects manipulation

Ye Shan, Bingxiao Ding, Jianhua Zhong, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

6 Citations (Scopus)

Abstract

To address coupling motion issues and realize large constant force range of microgrippers, we present a serial two-degree-of-freedom compliant constant force microgripper (CCFMG) in this paper. To realize a large output displacement in a compact structure, Scott-Russell displacement amplification mechanisms, bridge-type displacement amplification mechanisms, and lever amplification mechanisms are combined to compensate stroke of piezoelectric actuators. In addition, constant force modules are utilized to achieve a constant force output. We investigated CCFMG's performances by means of pseudo-rigid body models and finite element analysis. Simulation results show that the proposed CCFMG has a stroke of 781.34 in the X-direction and a stroke of 258.05 in the Y-direction, and the decoupling rates in two directions are 1.1% and 0.9%, respectively. The average output constant force of the clamp is 37.49 N. The amplification ratios of the bridge-type amplifier and the Scott-Russell amplifier are 7.02 and 3, respectively. Through finite element analysis-based optimization, the constant force stroke of CCFMG is increased from the initial 1.6 to 3 mm.

Original languageEnglish
Pages (from-to)2064-2078
Number of pages15
JournalRobotica
Volume41
Issue number7
DOIs
Publication statusPublished - 24 Jul 2023

Keywords

  • compliant mechanism
  • constant force gripper
  • FEA optimization
  • fully decoupled

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computational Mechanics
  • General Mathematics
  • Modelling and Simulation
  • Rehabilitation
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence

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