Design and modeling of a compliant gripper with parallel movement of jaws

Chang, Pei-Lun; Chi, I-Ting; Tran, Ngoc Dang Khoa; Wang, Dung-An

doi:10.1016/j.mechmachtheory.2020.103942

Cited by 21 publications

(4 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Gan et al designed a stiffness combination constant force micro-gripper based on a circular beam, which can generate stable constant force and a long constant force interval [28]. Chang et al designed a flexible micro-gripper with parallel gripper function, which can reduce the damage to components by realizing parallel gripper, and was used to grab fragile consumer goods [29]. The clamping range of these micro-grippers is relatively small, and there is no end displacement adjustment mechanism, so that the grippers cannot compensate the errors caused by the use of flexible hinges in the structure, and the clamping range at the end of the grippers cannot be adjusted, which makes the clamped objects have certain limitations.…”

Section: Introductionmentioning

confidence: 99%

A three-stage amplification piezoelectric-actuated micro-gripper with adjustable output displacement: design, modeling, and experimental evaluation

Yang

et al. 2023

Smart Mater. Struct.

View full text Add to dashboard Cite

With the development of science and technology, the performance requirements of micro-gripper are getting higher and higher. Therefore, this paper designs a new piezoelectric-driven micro-gripper with large and adjustable output displacement, which can adjust the output range and compensate the errors caused by flexible mechanism. By adjusting the output displacement, the micro-components of different sizes can be clamped. The three-stage amplification mechanism is adopted, which utilizes triangle and lever amplification. Using the pseudo-rigid body method, the flexible hinge is analyzed; the statics, kinematics and dynamics models are established. Through finite element method, the magnification ratio of the micro-gripper is obtained, then the structure of the micro-gripper is further optimized. The output displacement and the magnification of the single-arm of the micro-gripper under 135 V are 223.8 μm and 24.2 times, respectively. This paper provides a basis for the wide application of micro-gripper.

show abstract

Section: Introductionmentioning

confidence: 99%

A three-stage amplification piezoelectric-actuated micro-gripper with adjustable output displacement: design, modeling, and experimental evaluation

Yang

et al. 2023

Smart Mater. Struct.

View full text Add to dashboard Cite

show abstract

“…These flexible mechanisms have broad applications in different fields such as sensor design, 1 gripper configuration, 2,3 bi-stable and multi-stable mechanisms, [4][5][6] micro-electro-mechanical systems (MEMS), 7,8 highprecision devices, 9,10 biomedical and surgery robots, 11,12 and so on. Consequently, CMs can be used in many industries, labs, and electro-mechanical equipment, although they involve some limitations about motion range and strength.…”

Section: Introductionmentioning

confidence: 99%

Topology optimization of the compliant mechanisms considering curved beam elements using metaheuristic algorithms

Mokhtari

Varedi-Koulaei

Zhu

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

Compliant mechanisms use the flexibility of the limbs for movement and can be produced monolithic and joint-less. These flexible mechanisms have wide applications in several fields such as sensors, grippers, parallel mechanisms, micro-electro-mechanical systems, high-precision devices, and biomedical and surgery robots. Topology optimization is regarded as one of the most frequently used approaches for designing compliant mechanisms. The present study aimed to develop the ground structure approach by meshing the design domain using curved beam elements. Moreover, it seeks to implement three different metaheuristic algorithms, including the genetic algorithm, the imperialist competition algorithm, and the equilibrium optimizer for the topology optimization problem. The structural analysis of the compliant mechanism is necessary for determining the values of the objective functions for the optimization process. In the present study, the finite element method was used to analyze the obtained compliant mechanism. Based on the results, an optimum compliant mechanism with both straight and curved beam elements had better performance compared with a compliant mechanism with only straight beams.

show abstract

“…The parallel beam of jaws with two stable states has been used to externally grip an object. 37 Shear activated grippers have also been designed using principles of flexible mechanisms to externally hold large objects. 38 Compliant mechanisms with planar and parallel jaws which grip the objects externally have also been developed.…”

Section: Introductionmentioning

confidence: 99%

Flexure based gripper to grasp hollow objects by internal surface interaction

Kumar

Yadav

Gupta

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

The paper focuses on the design, development, and evaluation of a gripper intended to hold hollow objects by interacting with the inner surface. The gripper moves towards the inside of the hollow object and grips it using the friction forces applied on the surface of the object. The design also ensures the application of variable normal forces on the surface of the object to be grasped. The mathematical architecture is verified using prototypes and experiments.

show abstract

Design and modeling of a compliant gripper with parallel movement of jaws

Cited by 21 publications

References 28 publications

A three-stage amplification piezoelectric-actuated micro-gripper with adjustable output displacement: design, modeling, and experimental evaluation

A three-stage amplification piezoelectric-actuated micro-gripper with adjustable output displacement: design, modeling, and experimental evaluation

Topology optimization of the compliant mechanisms considering curved beam elements using metaheuristic algorithms

Flexure based gripper to grasp hollow objects by internal surface interaction

Contact Info

Product

Resources

About