Mobility and kinematic analysis of a novel dexterous micro gripper

Shunli Xiao, Yangmin Li

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

15 Citations (Scopus)

Abstract

The paper presents the design and analysis of a dexterous micro-gripper with two fingers and each finger has 2-DOF translational movement function. The two fingers can move independently in hundreds of microns' range, and can cooperate with each other to realize complex operation for micro objects. The mobility characteristics and the inverse parallel kinematic model of a single finger are analyzed by resorting to screw theory and compliance and stiffness matrix method, which are validated by finite-element analysis (FEA). Both FEA and the theoretical model have well validated the movement of the fingers moving in translational way, the designed micro gripper can realize a lot of complex functions. Properly selecting the amplification ratio and the stroke of the PZT, we can mount the gripper onto a positioning stage to realize a larger motion range, which will make it be widely used in micro parts assembly and bio-operation systems.
Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherIEEE
Pages2523-2528
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 1 Jan 2012
Externally publishedYes
Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 14 May 201218 May 2012

Conference

Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period14/05/1218/05/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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