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

Zhigang Wu, Yangmin Li

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

5 Citations (Scopus)


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 languageEnglish
Title of host publicationAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Number of pages6
ISBN (Print)9781479957361
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France
Duration: 8 Jul 201411 Jul 2014


Conference2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014


  • dynamics
  • matrix method
  • microgripper
  • optimization

ASJC Scopus subject areas

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

Cite this