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 language | English |
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| Title of host publication | 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 |
| Publisher | IEEE |
| Pages | 2523-2528 |
| Number of pages | 6 |
| ISBN (Print) | 9781467314039 |
| DOIs | |
| Publication status | Published - 1 Jan 2012 |
| Externally published | Yes |
| Event | 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: 14 May 2012 → 18 May 2012 |
Conference
| Conference | 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 |
|---|---|
| Country/Territory | United States |
| City | Saint Paul, MN |
| Period | 14/05/12 → 18/05/12 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering