Optimal design and comparative analysis of a novel microgripper based on matrix method

Zhigang Wu; Yangmin Li

doi:10.1109/AIM.2014.6878203

Optimal design and comparative analysis of a novel microgripper based on matrix method

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

6 Citations (Scopus)

Abstract

In this paper, a kind of novel microgripper is designed and analyzed, which has two degrees of freedom in the x and y directions. The clamping action of the microgripper in the x direction is completed, however, when anything is clamped by the end-effector, it can be completely driven by an actuator generated in y direction. The kinematics and dynamics models of the gripper are established, which are based on matrix method and Lagrange method respectively, then the structure optimization for the mechanism can be conducted by using the Boltzmann machine algorithm based on simulated annealing, which can obtain the global optimum of the output displacement. Finally, the optimized architecture is validated by adopting finite element analysis(FEA), and the errors of FEA and matrix method are less than 8.5%.

Original language	English
Title of host publication	AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Publisher	IEEE
Pages	955-960
Number of pages	6
ISBN (Print)	9781479957361
DOIs	https://doi.org/10.1109/AIM.2014.6878203
Publication status	Published - 1 Jan 2014
Externally published	Yes
Event	2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France Duration: 8 Jul 2014 → 11 Jul 2014

Conference

Conference	2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Country/Territory	France
City	Besancon
Period	8/07/14 → 11/07/14

Keywords

dynamics
matrix method
microgripper
optimization

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications
Electrical and Electronic Engineering

More information

10.1109/AIM.2014.6878203

Cite this

@inproceedings{aeb00ee008ff4d04ba0a97f38887f7cb,

title = "Optimal design and comparative analysis of a novel microgripper based on matrix method",

abstract = "In this paper, a kind of novel microgripper is designed and analyzed, which has two degrees of freedom in the x and y directions. The clamping action of the microgripper in the x direction is completed, however, when anything is clamped by the end-effector, it can be completely driven by an actuator generated in y direction. The kinematics and dynamics models of the gripper are established, which are based on matrix method and Lagrange method respectively, then the structure optimization for the mechanism can be conducted by using the Boltzmann machine algorithm based on simulated annealing, which can obtain the global optimum of the output displacement. Finally, the optimized architecture is validated by adopting finite element analysis(FEA), and the errors of FEA and matrix method are less than 8.5%.",

keywords = "dynamics, matrix method, microgripper, optimization",

author = "Zhigang Wu and Yangmin Li",

year = "2014",

month = jan,

day = "1",

doi = "10.1109/AIM.2014.6878203",

language = "English",

isbn = "9781479957361",

pages = "955--960",

booktitle = "AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics",

publisher = "IEEE",

address = "United States",

note = "2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 ; Conference date: 08-07-2014 Through 11-07-2014",

}

Wu, Z & Li, Y 2014, Optimal design and comparative analysis of a novel microgripper based on matrix method. in AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 6878203, IEEE, pp. 955-960, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014, Besancon, France, 8/07/14. https://doi.org/10.1109/AIM.2014.6878203

Optimal design and comparative analysis of a novel microgripper based on matrix method. / Wu, Zhigang; Li, Yangmin.
AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. IEEE, 2014. p. 955-960 6878203.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - Optimal design and comparative analysis of a novel microgripper based on matrix method

AU - Wu, Zhigang

AU - Li, Yangmin

PY - 2014/1/1

Y1 - 2014/1/1

N2 - In this paper, a kind of novel microgripper is designed and analyzed, which has two degrees of freedom in the x and y directions. The clamping action of the microgripper in the x direction is completed, however, when anything is clamped by the end-effector, it can be completely driven by an actuator generated in y direction. The kinematics and dynamics models of the gripper are established, which are based on matrix method and Lagrange method respectively, then the structure optimization for the mechanism can be conducted by using the Boltzmann machine algorithm based on simulated annealing, which can obtain the global optimum of the output displacement. Finally, the optimized architecture is validated by adopting finite element analysis(FEA), and the errors of FEA and matrix method are less than 8.5%.

AB - In this paper, a kind of novel microgripper is designed and analyzed, which has two degrees of freedom in the x and y directions. The clamping action of the microgripper in the x direction is completed, however, when anything is clamped by the end-effector, it can be completely driven by an actuator generated in y direction. The kinematics and dynamics models of the gripper are established, which are based on matrix method and Lagrange method respectively, then the structure optimization for the mechanism can be conducted by using the Boltzmann machine algorithm based on simulated annealing, which can obtain the global optimum of the output displacement. Finally, the optimized architecture is validated by adopting finite element analysis(FEA), and the errors of FEA and matrix method are less than 8.5%.

KW - dynamics

KW - matrix method

KW - microgripper

KW - optimization

UR - http://www.scopus.com/inward/record.url?scp=84906668880&partnerID=8YFLogxK

U2 - 10.1109/AIM.2014.6878203

DO - 10.1109/AIM.2014.6878203

M3 - Conference article published in proceeding or book

SN - 9781479957361

SP - 955

EP - 960

BT - AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics

PB - IEEE

T2 - 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014

Y2 - 8 July 2014 through 11 July 2014

ER -

Optimal design and comparative analysis of a novel microgripper based on matrix method

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this