Next Article in Journal
Effect of Mechanical Compression on Invasion Process of Malignant Melanoma Using In Vitro Three-Dimensional Cell Culture Device
Previous Article in Journal
Quasi Single Point Calibration Method for High-Speed Measurements of Resistive Sensors
Open AccessArticle

Design of a Monolithic Double-Slider Based Compliant Gripper with Large Displacement and Anti-Buckling Ability

School of Engineering-Electrical and Electronic Engineering, University College Cork, T12 K8AF Cork, Ireland
*
Author to whom correspondence should be addressed.
Micromachines 2019, 10(10), 665; https://doi.org/10.3390/mi10100665
Received: 13 September 2019 / Revised: 27 September 2019 / Accepted: 28 September 2019 / Published: 30 September 2019
In a micro-manipulation system, the compliant gripper is used for gripping, handling and assembling of objects. Large displacement and anti-buckling characteristics are desired in the design of the gripper. In this paper, a compliant gripper with these two characteristics is proposed, modelled and verified. The large displacement is enabled by using distributed compliance in a double-slider kinematic mechanism. An inverted flexure arrangement enables the anti-buckling of the gripper when closing the two jaws. A pseudo-rigid-body model (PRBM) method with the help of virtual work principle is employed to obtain several desired analytical relations including the amplification coefficient and kinetostatics. The results of the finite element analysis (FEA) are shown to be consistent with the results of the derived analytical model. An experimental test was carried out through a milling machined aluminium alloy prototype, the results of which verify the good performance of the compliant gripper. View Full-Text
Keywords: compliant gripper; large motion; anti-buckling; modelling compliant gripper; large motion; anti-buckling; modelling
Show Figures

Figure 1

MDPI and ACS Style

Hao, G.; Zhu, J. Design of a Monolithic Double-Slider Based Compliant Gripper with Large Displacement and Anti-Buckling Ability. Micromachines 2019, 10, 665.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop