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 language | English |
|---|---|
| Title of host publication | MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales |
| Editors | Sinan Haliyo, Albert Sill, Quan Zhou, Pasi Kallio, Sergej Fatikow |
| Publisher | IEEE, Institute of Electrical and Electronics Engineers |
| Number of pages | 6 |
| ISBN (Electronic) | 9781728109473 |
| DOIs | |
| Publication status | Published - 7 Oct 2019 |
| Event | International Conference on Manipulation, Automation and Robotics at Small Scales 2019 - Helsinki, Finland Duration: 1 Jul 2019 → 5 Jul 2019 Conference number: 4th |
Publication series
| Name | MARSS 2019 - International Conference on Manipulation, Automation and Robotics at Small Scales |
|---|
Conference
| Conference | International Conference on Manipulation, Automation and Robotics at Small Scales 2019 |
|---|---|
| Abbreviated title | MARSS 2019 |
| Country | Finland |
| City | Helsinki |
| Period | 1/07/19 → 5/07/19 |
Cite this
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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 proceeding › Conference Paper › Other
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 -