TY - JOUR
T1 - Characterization of a compact piezoelectric actuated microgripper based on double-stair bridge-type mechanism
AU - Das, Tilok Kumar
AU - Shirinzadeh, Bijan
AU - Ghafarian, Mohammadali
AU - Al-Jodah, Ammar
AU - Pinskier, Joshua
PY - 2020/6
Y1 - 2020/6
N2 - This paper presents a compact flexure-based microgripper for grasping/releasing tasks. The microgripper is based on a double-stair bridge-type mechanism and consists of a bridge-type mechanism for amplifying the input displacement and the integrated parallelogram mechanisms for linearizing the motion at the microgripper jaws. The displacement transmission, amplification, linearization are accomplished in a single-stage. Stiffness modeling is established to characterize the output displacement, the displacement amplification ratio, and the input stiffness of the mechanism. The right-angle flexure hinges are utilized in the displacement amplification and transmission mechanisms to maintain the input stiffness of the mechanism. The structural design of the microgripper is optimized in such a way that a large output displacement can be achieved. Finite element analysis and experiments are conducted on the microgripper to verify the results of the analytical modeling. The proposed microgripper achieves a large output displacement of 543.8 μm with a displacement amplification ratio of 19.3. The experimental results indicate that the microgripper will be able to accommodate a grasping/releasing task.
AB - This paper presents a compact flexure-based microgripper for grasping/releasing tasks. The microgripper is based on a double-stair bridge-type mechanism and consists of a bridge-type mechanism for amplifying the input displacement and the integrated parallelogram mechanisms for linearizing the motion at the microgripper jaws. The displacement transmission, amplification, linearization are accomplished in a single-stage. Stiffness modeling is established to characterize the output displacement, the displacement amplification ratio, and the input stiffness of the mechanism. The right-angle flexure hinges are utilized in the displacement amplification and transmission mechanisms to maintain the input stiffness of the mechanism. The structural design of the microgripper is optimized in such a way that a large output displacement can be achieved. Finite element analysis and experiments are conducted on the microgripper to verify the results of the analytical modeling. The proposed microgripper achieves a large output displacement of 543.8 μm with a displacement amplification ratio of 19.3. The experimental results indicate that the microgripper will be able to accommodate a grasping/releasing task.
KW - C ompliant mechanism
KW - Microgripper
KW - Piezoelectric actuator
KW - Right-angle flexure
UR - http://www.scopus.com/inward/record.url?scp=85083803529&partnerID=8YFLogxK
U2 - 10.1007/s12213-020-00132-5
DO - 10.1007/s12213-020-00132-5
M3 - Article
AN - SCOPUS:85083803529
VL - 16
SP - 79
EP - 92
JO - Journal of Micro-Bio Robotics
JF - Journal of Micro-Bio Robotics
SN - 2194-6418
IS - 1
ER -