Theoretical Analysis and Experiment on Compliant Microgripper Mechanism

被引：0
|
作者：
Yu Y. [1 ]
Zhang Y. [1 ]
Zhang X. [2 ]
Song P. [1 ]
Tian D. [1 ]
机构：
[1] College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing
[2] Department of Engineering, Aarhus University, Aarhus
来源：
| 2018年 / Chinese Society of Agricultural Machinery卷 / 49期
关键词：
Compliant mechanisms; Experiment; Microgripper mechanisms; Pseudo-rigid-body;
D O I：
10.6041/j.issn.1000-1298.2018.11.047
中图分类号：
学科分类号：
摘要：
As an end-effector in the micromanipulation system, the compliant microgripper is of great importance in micro manipulations. A pseudo-rigid-body model of a novel compliant microgripper was established, and the kinematic equations were formulated based on developing and analyzing the pseudo-rigid-body model by using the principle of virtual work. The relationship between input and output displacements as well as the relationship between input force and output displacement were then derived. The analytical model was verified via 3D simulations by using ANSYS software. The simulation results were compared with the theoretical results and the error was less than 2.8% within the required range. Finally, the compliant microgripper was fabricated and the micromanipulation system was established. Then displacement experimental tests were conducted by using the fabricated microgripper. Experimental data was compared with both analytical and simulation results to further validate the accuracy of the analytical model. It was proved that the new microgripper displacement can get 89.65 μm with 1 V voltage applied. And the error between the analytical results and experimental data was not more than 3.2% in useable range. The displacement characteristics were got by the pseudo-rigid-body model and verified by the simulation results and the experiments data. The microgripper can manipulate suitable subjects with size within 500 μm to 679 μm from the analysis results. © 2018, Chinese Society of Agricultural Machinery. All right reserved.
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页码：386 / 391
页数：5
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