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Design and analysis of a compliant microgripper with a large amplification ratio

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Abstract

This paper presents the design and analysis of a novel piezoelectric-actuated compliant microgripper that mainly consists of a three-stage amplifier and a pair of parallelogram mechanism to achieve a large amplification ratio and a wide motion stroke. The three stages are configured as two bridge-type with one lever-type amplification mechanism, and a pair of parallelogram mechanisms are integrated into the lever-type amplification mechanism to provide advantages in terms of parallel gripping and large amplification ratio. The crucial structural parameters are optimized by the response surface optimization. The static model of the microgripper is established and finite element analysis is conducted to evaluate the characteristics of the microgripper. The performance of the microgripper is investigated by experimental studies on a fabricated prototype. Experimental results show that the microgripper obtains a large displacement amplification ratio of 45.58, a wide motion stroke of 683.70 μm, and it can successfully grasp different copper wires with diameters of 300 μm and 500 μm.

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Abbreviations

c ij :

The flexibility coefficient

C :

The compliance matrix

D(Z):

The displacement of one jaw

E :

The elastic modulus

E(Z):

The natural frequency of the microgripper

F in1 :

The input force of the first-stage amplifier

F out1 :

The output force of the first-stage amplifier

F :

The loading vector

G :

The shear modulus

h :

Height of the rectangular hinge

l 1 :

Length of the bridge arm in first-stage

l 2 :

Length of the bridge arm in second-stage

l 31 :

Length of the short arm in third-stage

l 32 :

Length of the long arm in third-stage

l α :

The linear distance between the two hinges

N :

The objective function 2

r :

Length of the rectangular hinge

R :

The DAR of the microgripper

R 1 :

The DAR of the first-stage amplifier

R 2 :

The DAR of the second-stage amplifier

R 3 :

The DAR of the third-stage amplifier

S :

The objective function 1

t :

Width of the rectangular hinge

X in :

The input displacement of the microgripper

X out :

The output stroke of the microgripper

X :

The displacement vector

Z :

A vector of structural parameters

α :

The angle between two adjacent flexure hinges

Δx 1 :

The input displacements of the chosen arm

Δy 1 :

The output displacements of the chosen arm

Δx h :

The translational deformations of the flexure hinges A and B in x directions

Δy h :

The translational deformations of the flexure hinges A and B in y directions

MEMS:

Microelectromechanical systems

PZT:

Piezoelectric

DAR:

Displacement amplification ratio

SR:

Scott-Russell

FEM:

Finite element method

RSM:

Response surface methodology

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Acknowledgements

This research work was supported by the National Natural Science Foundation of China (51805327).

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Authors and Affiliations

  1. School of Mechanical Engineering, Shandong University, Jinan, 250061, China

    Zhongyi Guo, Haifeng Ma, Quhao Li, Zhanqiang Liu & Qinghua Song

  2. Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE/Key National Demonstration Center for Experimental Mechanical Engineering Education, Jinan, 250061, China

    Zhongyi Guo, Haifeng Ma, Quhao Li, Zhanqiang Liu & Qinghua Song

  3. Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hung Hom, 999077, Hong Kong, China

    Yangmin Li

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  1. Zhongyi Guo
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  2. Haifeng Ma
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  3. Quhao Li
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  4. Yangmin Li
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  5. Zhanqiang Liu
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  6. Qinghua Song
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Correspondence to Haifeng Ma.

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Guo, Z., Ma, H., Li, Q. et al. Design and analysis of a compliant microgripper with a large amplification ratio. Microsyst Technol 29, 1333–1341 (2023). https://doi.org/10.1007/s00542-023-05505-x

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  • DOI: https://doi.org/10.1007/s00542-023-05505-x

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