Design and analysis of a novel hybrid grasping mode microgripper for high precision tasks

Tilok Kumar Das; Rifat Shahrear; Arpita Das; Bijan Shirinzadeh

doi:10.1109/WIECON-ECE60392.2023.10456443

Design and analysis of a novel hybrid grasping mode microgripper for high precision tasks

Tilok Kumar Das, Rifat Shahrear, Arpita Das, Bijan Shirinzadeh

Mechanical & Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

Abstract

This paper represents a novel piezoelectric actuated flexure-based compliant microgripper which can perform both parallel and angular grasping regardless of the geometric surface of the objects. Two compliant bridge-type mechanisms along with two symmetrical microgripper jaws at the end of the two side arms are accommodated to construct the microgripper. The two side arms of the microgripper act as lever-type amplification mechanisms. Simultaneous actuation of two bridge-type mechanisms is needed to perform linearized parallel grasping. The symmetric design is adopted to maintain better stability. The Finite Element Analysis (FEA) has been performed to evaluate the performance of the microgripper. FEA shows that each jaw of the microgripper can achieve a displacement of 141.72 μm resulting in a total displacement of 283.44 μm with an amplification ratio of 10.7 and 0.715% parasitic motion in y-direction of the X -axis displacement during parallel grasping. Also, each jaw can achieve a displacement of 283.88 μm which results in a total displacement of 567.76 μm with an amplification ratio of 21.5 and 5.17 mrad angular rotation about the Z-axis during angular grasping. The FEA suggests that the microgripper is capable of both parallel and angular grasping/releasing tasks.

Original language	English
Title of host publication	Proceedings of 2023 IEEE 9th International Women in Engineering (WIE) Conference on Electrical and Computer Engineering, WIECON-ECE 2023
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	315-320
Number of pages	6
ISBN (Electronic)	9798350319651
DOIs	https://doi.org/10.1109/WIECON-ECE60392.2023.10456443
Publication status	Published - 2023
Event	IEEE International Women in Engineering and Conference on Electrical and Computer Engineering 2023 - Thiruvananthapuram, India Duration: 25 Nov 2023 → 26 Nov 2023 Conference number: 9th https://ieeexplore.ieee.org/xpl/conhome/10456368/proceeding (Proceedings)

Conference

Conference	IEEE International Women in Engineering and Conference on Electrical and Computer Engineering 2023
Abbreviated title	WIECON-ECE 2023
Country/Territory	India
City	Thiruvananthapuram
Period	25/11/23 → 26/11/23
Internet address	https://ieeexplore.ieee.org/xpl/conhome/10456368/proceeding (Proceedings)

Keywords

Compliant mechanism
Finite Element Analysis (FEA)
Microgripper
Parallel/angular grasping
Piezoelectric actuator (PEA)

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/WIECON-ECE60392.2023.10456443

Cite this

Das, T. K., Shahrear, R., Das, A., & Shirinzadeh, B. (2023). Design and analysis of a novel hybrid grasping mode microgripper for high precision tasks. In Proceedings of 2023 IEEE 9th International Women in Engineering (WIE) Conference on Electrical and Computer Engineering, WIECON-ECE 2023 (pp. 315-320). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/WIECON-ECE60392.2023.10456443

@inproceedings{e2a733939b6141aa9af00bd3f4e5afee,

title = "Design and analysis of a novel hybrid grasping mode microgripper for high precision tasks",

abstract = "This paper represents a novel piezoelectric actuated flexure-based compliant microgripper which can perform both parallel and angular grasping regardless of the geometric surface of the objects. Two compliant bridge-type mechanisms along with two symmetrical microgripper jaws at the end of the two side arms are accommodated to construct the microgripper. The two side arms of the microgripper act as lever-type amplification mechanisms. Simultaneous actuation of two bridge-type mechanisms is needed to perform linearized parallel grasping. The symmetric design is adopted to maintain better stability. The Finite Element Analysis (FEA) has been performed to evaluate the performance of the microgripper. FEA shows that each jaw of the microgripper can achieve a displacement of 141.72 μm resulting in a total displacement of 283.44 μm with an amplification ratio of 10.7 and 0.715% parasitic motion in y-direction of the X -axis displacement during parallel grasping. Also, each jaw can achieve a displacement of 283.88 μm which results in a total displacement of 567.76 μm with an amplification ratio of 21.5 and 5.17 mrad angular rotation about the Z-axis during angular grasping. The FEA suggests that the microgripper is capable of both parallel and angular grasping/releasing tasks.",

keywords = "Compliant mechanism, Finite Element Analysis (FEA), Microgripper, Parallel/angular grasping, Piezoelectric actuator (PEA)",

author = "Das, {Tilok Kumar} and Rifat Shahrear and Arpita Das and Bijan Shirinzadeh",

note = "Funding Information: This research work is supported by the research grant from Directorate of Research & Extension (DRE) (project code: CUET/DRE/2022-23/ME/039) and the lab facilities from the Post-graduate Research Laboratory, Dept. of Mechanical Engineering, Chittagong University of Engineering & Technology (CUET). Publisher Copyright: {\textcopyright} 2023 IEEE.; IEEE International Women in Engineering and Conference on Electrical and Computer Engineering 2023, WIECON-ECE 2023 ; Conference date: 25-11-2023 Through 26-11-2023",

year = "2023",

doi = "10.1109/WIECON-ECE60392.2023.10456443",

language = "English",

pages = "315--320",

booktitle = "Proceedings of 2023 IEEE 9th International Women in Engineering (WIE) Conference on Electrical and Computer Engineering, WIECON-ECE 2023",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

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Das, TK, Shahrear, R, Das, A & Shirinzadeh, B 2023, Design and analysis of a novel hybrid grasping mode microgripper for high precision tasks. in Proceedings of 2023 IEEE 9th International Women in Engineering (WIE) Conference on Electrical and Computer Engineering, WIECON-ECE 2023. IEEE, Institute of Electrical and Electronics Engineers, pp. 315-320, IEEE International Women in Engineering and Conference on Electrical and Computer Engineering 2023, Thiruvananthapuram, India, 25/11/23. https://doi.org/10.1109/WIECON-ECE60392.2023.10456443

Design and analysis of a novel hybrid grasping mode microgripper for high precision tasks. / Das, Tilok Kumar; Shahrear, Rifat; Das, Arpita et al.
Proceedings of 2023 IEEE 9th International Women in Engineering (WIE) Conference on Electrical and Computer Engineering, WIECON-ECE 2023. IEEE, Institute of Electrical and Electronics Engineers, 2023. p. 315-320.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

TY - GEN

T1 - Design and analysis of a novel hybrid grasping mode microgripper for high precision tasks

AU - Das, Tilok Kumar

AU - Shahrear, Rifat

AU - Das, Arpita

AU - Shirinzadeh, Bijan

N1 - Conference code: 9th

PY - 2023

Y1 - 2023

N2 - This paper represents a novel piezoelectric actuated flexure-based compliant microgripper which can perform both parallel and angular grasping regardless of the geometric surface of the objects. Two compliant bridge-type mechanisms along with two symmetrical microgripper jaws at the end of the two side arms are accommodated to construct the microgripper. The two side arms of the microgripper act as lever-type amplification mechanisms. Simultaneous actuation of two bridge-type mechanisms is needed to perform linearized parallel grasping. The symmetric design is adopted to maintain better stability. The Finite Element Analysis (FEA) has been performed to evaluate the performance of the microgripper. FEA shows that each jaw of the microgripper can achieve a displacement of 141.72 μm resulting in a total displacement of 283.44 μm with an amplification ratio of 10.7 and 0.715% parasitic motion in y-direction of the X -axis displacement during parallel grasping. Also, each jaw can achieve a displacement of 283.88 μm which results in a total displacement of 567.76 μm with an amplification ratio of 21.5 and 5.17 mrad angular rotation about the Z-axis during angular grasping. The FEA suggests that the microgripper is capable of both parallel and angular grasping/releasing tasks.

AB - This paper represents a novel piezoelectric actuated flexure-based compliant microgripper which can perform both parallel and angular grasping regardless of the geometric surface of the objects. Two compliant bridge-type mechanisms along with two symmetrical microgripper jaws at the end of the two side arms are accommodated to construct the microgripper. The two side arms of the microgripper act as lever-type amplification mechanisms. Simultaneous actuation of two bridge-type mechanisms is needed to perform linearized parallel grasping. The symmetric design is adopted to maintain better stability. The Finite Element Analysis (FEA) has been performed to evaluate the performance of the microgripper. FEA shows that each jaw of the microgripper can achieve a displacement of 141.72 μm resulting in a total displacement of 283.44 μm with an amplification ratio of 10.7 and 0.715% parasitic motion in y-direction of the X -axis displacement during parallel grasping. Also, each jaw can achieve a displacement of 283.88 μm which results in a total displacement of 567.76 μm with an amplification ratio of 21.5 and 5.17 mrad angular rotation about the Z-axis during angular grasping. The FEA suggests that the microgripper is capable of both parallel and angular grasping/releasing tasks.

KW - Compliant mechanism

KW - Finite Element Analysis (FEA)

KW - Microgripper

KW - Parallel/angular grasping

KW - Piezoelectric actuator (PEA)

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U2 - 10.1109/WIECON-ECE60392.2023.10456443

DO - 10.1109/WIECON-ECE60392.2023.10456443

M3 - Conference Paper

AN - SCOPUS:85190372524

SP - 315

EP - 320

BT - Proceedings of 2023 IEEE 9th International Women in Engineering (WIE) Conference on Electrical and Computer Engineering, WIECON-ECE 2023

PB - IEEE, Institute of Electrical and Electronics Engineers

T2 - IEEE International Women in Engineering and Conference on Electrical and Computer Engineering 2023

Y2 - 25 November 2023 through 26 November 2023

ER -

Das TK, Shahrear R, Das A, Shirinzadeh B. Design and analysis of a novel hybrid grasping mode microgripper for high precision tasks. In Proceedings of 2023 IEEE 9th International Women in Engineering (WIE) Conference on Electrical and Computer Engineering, WIECON-ECE 2023. IEEE, Institute of Electrical and Electronics Engineers. 2023. p. 315-320 doi: 10.1109/WIECON-ECE60392.2023.10456443

Design and analysis of a novel hybrid grasping mode microgripper for high precision tasks

Abstract

Conference

Keywords

UN SDGs

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