Design and test of a compact compliant gripper using the Scott-Russell mechanism
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Date
2020-06-27
Authors
Zhu, Jiaxiang
Hao, Guangbo
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Publisher
Springer Nature Switzerland AG
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Abstract
This paper presents the design, modeling, fabrication, and test of a monolithic compliant gripper for micro-manipulation applications. A compact compliant mechanism that enables in-principle straight-line parallel jaw motion is obtained, by combining the Scott-Russell mechanism and the parallelogram mechanism. The right-circular corner-filleted (RCCF) flexure hinge is adopted to achieve a large displacement of lumped-compliance joints. A pseudo-rigid-body model (PRBM) method with the help of the virtual work principle is performed to obtain parametric analytical models including the amplification coefficient and kinetostatics. Finite element analysis (FEA) is conducted to validate the analytical model and capture adverse parasitic motions of jaws. A monolithic prototype was fabricated, the test results of which show satisfactory performances.
Description
Keywords
Compact configuration , Compliant gripper , Large displacement , Micro-manipulation , Straight-line motion
Citation
Zhu, J. and Hao, G. (2020) 'Design and test of a compact compliant gripper using the Scott-Russell mechanism', Archives of Civil and Mechanical Engineering, 20(3), 81(12pp). doi: 10.1007/s43452-020-00085-3
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Copyright
© 2020, Wroclaw University of Science and Technology. Published by Springer Nature Switzerland AG. This is a post-peer-review, pre-copyedit version of an article published in Archives of Civil and Mechanical Engineering. The final authenticated version is available online at: http://dx.doi.org/10.1007/s43452-020-00085-3