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Design and Fabrication a Long-Gripping-Range Microgripper with Active and Passive Actuators

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Iranian Journal of Science and Technology, Transactions of Mechanical Engineering Aims and scope Submit manuscript

Abstract

In this paper, a novel long-gripping-range compliant flexure-based microgripper is developed for high-precision manipulation of micro-objects. The proposed gripper has simple structure with significant specifications like large amplification factor, no backlash, friction free, parallel motion of jaws, large gripping range and in addition, high-resolution motion in the whole stroke. The actuation of the gripper is conducted by one passive microscrew and two active piezoelectric actuators. Finite element method is used for analyzing the stress and displacement of the mechanism. Using the results from FEM analyses, the mechanism is improved and the final shape is obtained. The proposed microgripper is fabricated from high-grade aluminum alloy (Al 7075-T6) using wire electrical discharge machining technique, and the tip displacement of the jaws is measured using the image processing method. The simulation and experimental results show the good performance of the presented microgripper. Finally, the operation indexes of the proposed microgripper are compared with some recent models.

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Authors and Affiliations

  1. Robotics and Control Lab, Faculty of Mechanical Engineering, Semnan University, P.O.B. 3513119111, Semnan, Iran

    Mostafa Hassani Niaki & Amin Nikoobin

Authors
  1. Mostafa Hassani Niaki
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  2. Amin Nikoobin
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Correspondence to Amin Nikoobin.

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Niaki, M.H., Nikoobin, A. Design and Fabrication a Long-Gripping-Range Microgripper with Active and Passive Actuators. Iran J Sci Technol Trans Mech Eng 43, 575–585 (2019). https://doi.org/10.1007/s40997-017-0135-8

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  • DOI: https://doi.org/10.1007/s40997-017-0135-8

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