Design and test of a compact compliant gripper using the Scott-Russell mechanism

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dc.contributor.authorZhu, Jiaxiang
dc.contributor.authorHao, Guangbo
dc.date.accessioned2020-07-30T12:00:00Z
dc.date.available2020-07-30T12:00:00Z
dc.date.issued2020-06-27
dc.date.updated2020-07-30T11:46:25Z
dc.description.abstractThis 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.en
dc.description.statusPeer revieweden
dc.description.versionAccepted Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.articleid81en
dc.identifier.citationZhu, 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/s43452-020-00085-3en
dc.identifier.doi10.1007/s43452-020-00085-3en
dc.identifier.endpage12en
dc.identifier.issn1644-9665
dc.identifier.issued3en
dc.identifier.journaltitleArchives of Civil and Mechanical Engineeringen
dc.identifier.startpage1en
dc.identifier.urihttps://hdl.handle.net/10468/10338
dc.identifier.volume20en
dc.language.isoenen
dc.publisherSpringer Nature Switzerland AGen
dc.rights© 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/s43452-020-00085-3en
dc.subjectCompact configurationen
dc.subjectCompliant gripperen
dc.subjectLarge displacementen
dc.subjectMicro-manipulationen
dc.subjectStraight-line motionen
dc.subject~Electrical and Electronic Engineering - Journal Articles~en
dc.titleDesign and test of a compact compliant gripper using the Scott-Russell mechanismen
dc.typeArticle (peer-reviewed)en
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