Design of a monolithic double-slider based compliant gripper with large displacement and anti-buckling ability
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Published version
Date
2019-08-30
Authors
Hao, Guangbo
Zhu, Jiaxiang
Journal Title
Journal ISSN
Volume Title
Publisher
MDPI
Published Version
Abstract
In a micro-manipulation system, the compliant gripper is used for gripping, handling and assembling of objects. Large displacement and anti-buckling characteristics are desired in the design of the gripper. In this paper, a compliant gripper with these two characteristics is proposed, modelled and verified. The large displacement is enabled by using distributed compliance in a double-slider kinematic mechanism. An inverted flexure arrangement enables the anti-buckling of the gripper when closing the two jaws. A pseudo-rigid-body model (PRBM) method with the help of virtual work principle is employed to obtain several desired analytical relations including the amplification coefficient and kinetostatics. The results of the finite element analysis (FEA) are shown to be consistent with the results of the derived analytical model. An experimental test was carried out through a milling machined aluminium alloy prototype, the results of which verify the good performance of the compliant gripper.
Description
Keywords
Compliant gripper , Large motion , Anti-buckling , Modelling
Citation
Hao, G. and Zhu, J. (2019) 'Design of a Monolithic Double-Slider Based Compliant Gripper with Large Displacement and Anti-Buckling Ability', Micromachines, 10(10), 665.(15pp.) DOI:10.3390/mi10100665