Design and analysis of planar compliant microgripper based on kinematic approach

摘要

The overall design scope of most microgrippers developed in recent years lacks a systematic mechanism design approach. Accordingly, the main objective of this investigation is to establish a new design concept in order to enhance the design scope of microgrippers. Using a systematic design procedure which particularly stresses planar compliant mechanisms, this study presents an atlas of 28 different planar compliant linkages for two-finger microgrippers. The preliminary FEM simulation results are in good agreement with the expected kinematic motion. Moreover, the stress analysis also points out that the relationship between the direction of driving force and orientation of deflected compliant joints is one of the crucial factors for designing the compliant microgripper mechanism. Hence, the mechanism design concept presented in this study can be integrated into the design of micro-scale actuating devices.