Computational parametric analysis and experimental investigations of a compact flexure-based microgripper

Tilok Kumar Das, Bijan Shirinzadeh, Ammar Al-Jodah, Mohammadali Ghafarian, Joshua Pinskier

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25 Citations (Scopus)


This paper presents a flexure-based piezoelectric actuated microgripper for high precision grasping/releasing tasks. The design of the microgripper consists of a three-stage amplification and transmission mechanism, and the parallel grasping technique. A bridge-type mechanism and two sequential lever-type mechanisms are symmetrically connected to amplify the output displacement of the embedded piezoelectric actuator. The parallelogram mechanisms assist in linearizing the output displacement of both jaws of the microgripper. The computational analysis is conducted to investigate the effect of the dimensional parameters on the characteristics of the microgripper. A computational parametric optimization methodology is established to achieve the required attributes of the microgripper. The design optimization resulted in a compact design, a high displacement amplification ratio, and a large output displacement of the microgripper. The experimental studies are conducted to investigate the key characteristics of the microgripper such as the displacement amplification ratio, the output displacement, tracking performance. Further, the parasitic motion, input-end and output-end motion resolution of the microgripper are identified. The experimental results indicate that the compact microgripper can achieve a high displacement amplification ratio and large output displacement with a high positioning accuracy.

Original languageEnglish
Pages (from-to)363-373
Number of pages11
JournalPrecision Engineering
Publication statusPublished - Nov 2020


  • Circular flexure
  • Compliant mechanism
  • Computational analysis
  • Microgripper

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