Optimal design of a novel micro-gripper with completely parallel movement of gripping arms

Shunli Xiao, Yangmin Li, Xinhua Zhao

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

19 Citations (Scopus)

Abstract

This paper presents the optimal design and analysis of a microgripper which has absolutely parallel movement of the gripping arms when it grasps or releases micro objects. By employing a compact displacement amplifier and several flexure supporting hinges, a novel gripper with simple symmetric structure driven by piezoelectric actuators has been designed. The kinematics and dynamic modeling of the gripper are conducted by resorting to compliance and stiffness analysis based on matrix method. The safety factor of the gripper is analyzed and conducted. Radius basis functional network (RBFN) is used to solve the analytical equations. At last, the parameters are optimized via RBFN based multi-objective GA optimization method, a set of optimal solutions can provide with good suggestions for parameters selections.
Original languageEnglish
Title of host publicationProceedings of the 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
Pages35-40
Number of pages6
DOIs
Publication statusPublished - 12 Dec 2011
Externally publishedYes
Event2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011 - Qingdao, China
Duration: 17 Sep 201119 Sep 2011

Conference

Conference2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
Country/TerritoryChina
CityQingdao
Period17/09/1119/09/11

ASJC Scopus subject areas

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

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