A parasitic motionless piezoelectric actuated microgripper for micro/nano manipulation

Tilok Kumar Das, Bijan Shirinzadeh, Mohammadali Ghafarian, Ammar Al-Jodah, Yanling Tian, Dawei Zhang

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

Abstract

This paper presents an asymmetric design of piezoelectric actuated microgripper for micro-objects handling. The microgripper offers parasitic motionless linear motion of the gripper jaw. The design integrates a bridge-type mechanism and parallelogram mechanisms in such a way that a pure linear motion of the gripper jaw in the grasping direction can be achieved. The analytical modeling is developed to find the output displacement, the displacement amplification ratio, and the natural frequency of the mechanism. Finite element analysis (FEA) is conducted to verify the results obtained from analytical modeling. The FEA results show that a jaw displacement of 353 μm with a displacement amplification ratio of 17.65 can be achieved. The parasitic motion can be reduced to 0.012 % of the gripper jaw motion in the x-direction. The modal analysis shows that the first natural frequency of 207.81 Hz can be achieved. The minimum safety factor of the design is 6.06, which ensures the microgripper can perform a repeated task.

Original languageEnglish
Title of host publicationMARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales
EditorsSinan Haliyo, Albert Sill, Quan Zhou, Pasi Kallio, Sergej Fatikow
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781728109473
DOIs
Publication statusPublished - 7 Oct 2019
EventInternational Conference on Manipulation, Automation and Robotics at Small Scales 2019 - Helsinki, Finland
Duration: 1 Jul 20195 Jul 2019
Conference number: 4th

Publication series

NameMARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales

Conference

ConferenceInternational Conference on Manipulation, Automation and Robotics at Small Scales 2019
Abbreviated titleMARSS 2019
CountryFinland
CityHelsinki
Period1/07/195/07/19

Cite this

Das, T. K., Shirinzadeh, B., Ghafarian, M., Al-Jodah, A., Tian, Y., & Zhang, D. (2019). A parasitic motionless piezoelectric actuated microgripper for micro/nano manipulation. In S. Haliyo, A. Sill, Q. Zhou, P. Kallio, & S. Fatikow (Eds.), MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales [8860960] (MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/MARSS.2019.8860960
Das, Tilok Kumar ; Shirinzadeh, Bijan ; Ghafarian, Mohammadali ; Al-Jodah, Ammar ; Tian, Yanling ; Zhang, Dawei. / A parasitic motionless piezoelectric actuated microgripper for micro/nano manipulation. MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales. editor / Sinan Haliyo ; Albert Sill ; Quan Zhou ; Pasi Kallio ; Sergej Fatikow. IEEE, Institute of Electrical and Electronics Engineers, 2019. (MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales).
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title = "A parasitic motionless piezoelectric actuated microgripper for micro/nano manipulation",
abstract = "This paper presents an asymmetric design of piezoelectric actuated microgripper for micro-objects handling. The microgripper offers parasitic motionless linear motion of the gripper jaw. The design integrates a bridge-type mechanism and parallelogram mechanisms in such a way that a pure linear motion of the gripper jaw in the grasping direction can be achieved. The analytical modeling is developed to find the output displacement, the displacement amplification ratio, and the natural frequency of the mechanism. Finite element analysis (FEA) is conducted to verify the results obtained from analytical modeling. The FEA results show that a jaw displacement of 353 μm with a displacement amplification ratio of 17.65 can be achieved. The parasitic motion can be reduced to 0.012 {\%} of the gripper jaw motion in the x-direction. The modal analysis shows that the first natural frequency of 207.81 Hz can be achieved. The minimum safety factor of the design is 6.06, which ensures the microgripper can perform a repeated task.",
author = "Das, {Tilok Kumar} and Bijan Shirinzadeh and Mohammadali Ghafarian and Ammar Al-Jodah and Yanling Tian and Dawei Zhang",
year = "2019",
month = "10",
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language = "English",
series = "MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales",
publisher = "IEEE, Institute of Electrical and Electronics Engineers",
editor = "Sinan Haliyo and Albert Sill and Quan Zhou and Pasi Kallio and Sergej Fatikow",
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}

Das, TK, Shirinzadeh, B, Ghafarian, M, Al-Jodah, A, Tian, Y & Zhang, D 2019, A parasitic motionless piezoelectric actuated microgripper for micro/nano manipulation. in S Haliyo, A Sill, Q Zhou, P Kallio & S Fatikow (eds), MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales., 8860960, MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales, IEEE, Institute of Electrical and Electronics Engineers, International Conference on Manipulation, Automation and Robotics at Small Scales 2019, Helsinki, Finland, 1/07/19. https://doi.org/10.1109/MARSS.2019.8860960

A parasitic motionless piezoelectric actuated microgripper for micro/nano manipulation. / Das, Tilok Kumar; Shirinzadeh, Bijan; Ghafarian, Mohammadali; Al-Jodah, Ammar; Tian, Yanling; Zhang, Dawei.

MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales. ed. / Sinan Haliyo; Albert Sill; Quan Zhou; Pasi Kallio; Sergej Fatikow. IEEE, Institute of Electrical and Electronics Engineers, 2019. 8860960 (MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales).

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

TY - GEN

T1 - A parasitic motionless piezoelectric actuated microgripper for micro/nano manipulation

AU - Das, Tilok Kumar

AU - Shirinzadeh, Bijan

AU - Ghafarian, Mohammadali

AU - Al-Jodah, Ammar

AU - Tian, Yanling

AU - Zhang, Dawei

PY - 2019/10/7

Y1 - 2019/10/7

N2 - This paper presents an asymmetric design of piezoelectric actuated microgripper for micro-objects handling. The microgripper offers parasitic motionless linear motion of the gripper jaw. The design integrates a bridge-type mechanism and parallelogram mechanisms in such a way that a pure linear motion of the gripper jaw in the grasping direction can be achieved. The analytical modeling is developed to find the output displacement, the displacement amplification ratio, and the natural frequency of the mechanism. Finite element analysis (FEA) is conducted to verify the results obtained from analytical modeling. The FEA results show that a jaw displacement of 353 μm with a displacement amplification ratio of 17.65 can be achieved. The parasitic motion can be reduced to 0.012 % of the gripper jaw motion in the x-direction. The modal analysis shows that the first natural frequency of 207.81 Hz can be achieved. The minimum safety factor of the design is 6.06, which ensures the microgripper can perform a repeated task.

AB - This paper presents an asymmetric design of piezoelectric actuated microgripper for micro-objects handling. The microgripper offers parasitic motionless linear motion of the gripper jaw. The design integrates a bridge-type mechanism and parallelogram mechanisms in such a way that a pure linear motion of the gripper jaw in the grasping direction can be achieved. The analytical modeling is developed to find the output displacement, the displacement amplification ratio, and the natural frequency of the mechanism. Finite element analysis (FEA) is conducted to verify the results obtained from analytical modeling. The FEA results show that a jaw displacement of 353 μm with a displacement amplification ratio of 17.65 can be achieved. The parasitic motion can be reduced to 0.012 % of the gripper jaw motion in the x-direction. The modal analysis shows that the first natural frequency of 207.81 Hz can be achieved. The minimum safety factor of the design is 6.06, which ensures the microgripper can perform a repeated task.

UR - http://www.scopus.com/inward/record.url?scp=85073879797&partnerID=8YFLogxK

U2 - 10.1109/MARSS.2019.8860960

DO - 10.1109/MARSS.2019.8860960

M3 - Conference Paper

T3 - MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales

BT - MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales

A2 - Haliyo, Sinan

A2 - Sill, Albert

A2 - Zhou, Quan

A2 - Kallio, Pasi

A2 - Fatikow, Sergej

PB - IEEE, Institute of Electrical and Electronics Engineers

ER -

Das TK, Shirinzadeh B, Ghafarian M, Al-Jodah A, Tian Y, Zhang D. A parasitic motionless piezoelectric actuated microgripper for micro/nano manipulation. In Haliyo S, Sill A, Zhou Q, Kallio P, Fatikow S, editors, MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales. IEEE, Institute of Electrical and Electronics Engineers. 2019. 8860960. (MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales). https://doi.org/10.1109/MARSS.2019.8860960