Design of monolithic Microgripping device with integrated force sensing Jaw

摘要

Microgripper is an elementary device used in all the precision manipulation industries. Precised micro manipulation, manufacturing and assembly are the highly challenging task to achieve a microgripper with conventional joints in the gripping mechanism. In this research work, an attempt has been made to develop a new compliant mechanism design with force sensing jaw. Topological optimization technique is explicitly used to achieve a fairly accurate design of microgripper. Topological design is subjected to modification in order to develop a flexible cantilever to sense the gripping force. A detailed study of a flexible cantilever gripping device and its behavior with various parameters of circular flexure hinges is made and the gripping force is measured through finite element software ANSYS Workbench.