A flexure-based 2-DOF microgripper for handling micro-objects

Tilok Kumar Das, Bijan Shirinzadeh, Mohammadali Ghafarian, Joshua Pinskier

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

6 Citations (Scopus)

Abstract

In this paper, a new Piezoelectric Actuator (PEA) microgripper with two degrees of freedom (2-DOF) is proposed for grasping and micro-positioning of micro-objects. It incorporates two types of parallel mechanism, namely, flexible and rigid body based. The flexure-based gripper is intended to improve the dexterity and flexibility of the grasping and release of micro-objects. Finite Element Analysis (FEA) was employed to evaluate the performance of the microgripper's design parameters. The workspace of proposed mechanism was obtained using a kinematic model. The FEA results showed that the maximum stroke of grasping and transferring are 476 μm and 88 μm, respectively. The displacement amplification ratios are 15.87 and 2.93 for grasping and transferring, respectively. In the worst-case scenario, the maximum equivalent (von-Mises) stress and minimum safety factor of the designed microgripper were obtained as 3.83 MPa and 13.1, respectively, this confirms that the microgripper performs well without any failure. The concept of inverse kinematics was implemented on the proposed mechanism in FEA model and utilized to investigate the mi-crogrippers motion and coupling effects. Computational results indicated that the proposed 2-DOF microgripper can achieve accurate motion trajectory during grasping and releasing micro-objects.

Original languageEnglish
Title of host publicationMARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales
EditorsSergej Fatikow, Sinan Haliyo, Fumihito Arai, Albert Sill
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISBN (Electronic)9781538648414
DOIs
Publication statusPublished - 3 Oct 2018
EventInternational Conference on Manipulation, Automation and Robotics at Small Scales 2018 - Nagoya, Japan
Duration: 4 Jul 20188 Jul 2018
Conference number: 3rd

Publication series

NameMARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales

Conference

ConferenceInternational Conference on Manipulation, Automation and Robotics at Small Scales 2018
Abbreviated titleMARSS 2018
CountryJapan
CityNagoya
Period4/07/188/07/18

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