From the mechanical analysis of a polyarticulated microgripper to the design of a compliant microgripper

摘要

In this paper precise specifications are given for a microgripper based on a polyarticulated micromechanism. This polysilicon gripper actuated by Scratch Drive Actuators (SDA) has dimensions of 1.2mm x 1.6mm and a thickness of 4.5μm. The stroke of its jaws is about 275μm each, with a stroke ratio of 5. These specifications can be useful to compare such compliant micromechanisms. In particular, we propose an alternative to the polyarticulated mechanism based on a compliant structure. A new conceptual design method, based on compliant building blocks, is introduced. The proposed method, using genetic algorithm, quickly leads to several compliant solutions. A compromise between these solutions has performances close to those of the polyarticulated microgripper (about 20 % less).