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

^{*}

## Abstract

**:**

## 1. Introduction

## 2. Mechanism Design and Modelling

#### 2.1. Design of Compliant Gripper

#### 2.2. Kinematic Analysis

_{in}is the displacement of P

_{2}joint as the input, and o

_{ut}is the displacement of P

_{1}joint as the output. $\alpha +\beta ={\alpha}_{0}+{\beta}_{0}=\pi /2$ and ${l}_{1}{}^{2}+{l}_{2}{}^{2}={\left({l}_{2}-\Delta x\right)}^{2}+{\left({l}_{1}+\Delta y\right)}^{2}={L}_{\mathrm{P}}{}^{2}.$ All the symbols are labelled in Figure 4.

_{0}. In this paper, an amplification ratio between 1 to 2 is selected so that the input displacement and output displacement are equally easy to measure.

#### 2.3. Stiffness Analysis

^{3}/12 (U is the depth and T is the thickness) is the moment of inertia of the cross-section area. L is the length of identical compliant beams in each compliant parallelogram mechanism.

_{θ}and γ are related to the resulting force acting on the end of the fixed-guided beam, which are designated as 0.85 and 2.6, respectively, for a quick esitimation [3].

#### 2.4. Kinetostatics

_{in}and F

_{out}are the forces imposed on the input and output stages, respectively.

## 3. FEA Simulations and Testing

#### 3.1. Simulation

#### 3.2. Experimental Tests

^{−3}mm and a negligible spring force of 0.4–0.7 N, which are produced by Mitutoyo Corporation, Japan. The actuation system is mainly composed of two pulleys and various weights.

## 4. Comparisons

## 5. Discussions

## 6. Conclusions

## Author Contributions

## Funding

## Acknowledgments

## Conflicts of Interest

## References

- Sigmund, O. On the design of compliant mechanisms using topology optimization. Mech. Struct. Mach.
**1997**, 25, 493–524. [Google Scholar] [CrossRef] - Ai, W.; Xu, Q. New structural design of a compliant gripper based on the Scott-Russell mechanism. Int. J. Adv. Rob. Syst.
**2014**, 11, 192. [Google Scholar] [CrossRef] - Howell, L.L.; Magleby, S.P.; Olsen, B.M. Handbook of Compliant Mechanisms; John Wiley & Sons, Incorporated: Hoboken, NJ, USA, 2013. [Google Scholar]
- Chen, S.; Chen, W.; Lee, S. Level set based robust shape and topology optimization under random field uncertainties. Struct. Multidiscip. Optim.
**2010**, 41, 507–524. [Google Scholar] [CrossRef] - Yoon, G.H.; Heo, J.C. Constraint force design method for topology optimization of planar rigid-body mechanisms. Comput. Aided Des.
**2012**, 44, 1277–1296. [Google Scholar] [CrossRef] - Lamers, A.J.; Gallego Sánchez, J.A.; Herder, J.L. Design of a statically balanced fully compliant grasper. Mech. Mach. Theory
**2015**, 92, 230–239. [Google Scholar] [CrossRef] - Wang, J.-Y.; Lan, C.-C. A constant-force compliant gripper for handling objects of various sizes. J. Mech. Des.
**2014**, 136, 071008. [Google Scholar] [CrossRef] - Liu, Y.; Zhang, Y.; Xu, Q. Design and control of a novel compliant constant-force gripper based on buckled fixed-guided beams. IEEE ASME Trans. Mechatron.
**2016**, 22, 476–486. [Google Scholar] [CrossRef] - Kim, K.; Liu, X.; Zhang, Y.; Sun, Y. Nanonewton force-controlled manipulation of biological cells using a monolithic MEMS microgripper with two-axis force feedback. J. Micromech. Microeng.
**2008**, 18, 055013. [Google Scholar] [CrossRef] - Zhang, Y.; Chen, B.K.; Liu, X.; Sun, Y. Autonomous robotic pick-and-place of microobjects. IEEE Trans. Robot.
**2009**, 26, 200–207. [Google Scholar] [CrossRef] - Wang, F.; Liang, C.; Tian, Y.; Zhao, X.; Zhang, D. Design of a piezoelectric-actuated microgripper with a three-stage flexure-based amplification. IEEE ASME Trans. Mechatron.
**2014**, 20, 2205–2213. [Google Scholar] [CrossRef] - Hamedi, M.; Salimi, P.; Vismeh, M. Simulation and experimental investigation of a novel electrostatic microgripper system. Microelectron. Eng.
**2012**, 98, 467–471. [Google Scholar] [CrossRef] - Deimel, R.; Brock, O. A compliant hand based on a novel pneumatic actuator. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 6–10 May 2013. [Google Scholar]
- Xiao, S.; Li, Y.; Zhao, X. Design and analysis of a novel micro-gripper with completely parallel movement of gripping arms. In Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, Beijing, China, 21–23 June 2011. [Google Scholar]
- Beroz, J.; Awtar, S.; Bedewy, M.; Tawfick, S.; Hart, A.J. Compliant microgripper with parallel straight-line jaw trajectory for nanostructure manipulation. In Proceedings of the 26th American Society of Precision Engineering Annual Meeting, Denver, CO, USA, 13–18 November 2011; pp. 90–93. [Google Scholar]
- Chen, W.; Wei, L. Design of a flexure-based gripper used in optical fiber handling. In Proceedings of the IEEE Conference on Robotics, Automation and Mechatronics, Singapore, 1–3 December 2004. [Google Scholar]
- Zubir, M.N.; Shirinzadeh, B.; Tian, Y. A new design of piezoelectric driven compliant-based microgripper for micromanipulation. Mech. Mach. Theory
**2009**, 44, 2248–2264. [Google Scholar] [CrossRef] - Hao, G. Creative Design and Modelling of Large-Range Translation Compliant Parallel Manipulators. Ph.D. Thesis, Heriot-Watt University, Edinburgh, UK, 2011. [Google Scholar]
- Hao, G.; Hand, R.B. Design and static testing of a compact distributed-compliance gripper based on flexure motion. Arch. Civ. Mech. Eng.
**2016**, 16, 708–716. [Google Scholar] [CrossRef] - Wang, D.H.; Yang, Q.; Dong, H.M. A monolithic compliant piezoelectric-driven microgripper: Design, modeling, and testing. IEEE ASmE Trans. Mech.
**2011**, 18, 138–147. [Google Scholar] [CrossRef] - P-225 PICA Power Piezo Actuators. Available online: https://www.physikinstrumente.co.uk/en/products /linear-actuators/nanopositioning-piezo-actuators/p-225-pica-power-piezo-actuators-101750/ (accessed on 10 September 2019).
- Alogla, A.F.; Amalou, F.; Balmer, C.; Scanlan, P.; Shu, W.; Reuben, R.L. Micro-tweezers: Design, fabrication, simulation and testing of a pneumatically actuated micro-gripper for micromanipulation and microtactile sensing. Sens. Actuators A
**2015**, 236, 394–404. [Google Scholar] [CrossRef][Green Version]

© 2019 by the author. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

## Share and Cite

**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.
https://doi.org/10.3390/mi10100665

**AMA Style**

Hao G, Zhu J. Design of a Monolithic Double-Slider Based Compliant Gripper with Large Displacement and Anti-Buckling Ability. *Micromachines*. 2019; 10(10):665.
https://doi.org/10.3390/mi10100665

**Chicago/Turabian Style**

Hao, Guangbo, and Jiaxiang Zhu. 2019. "Design of a Monolithic Double-Slider Based Compliant Gripper with Large Displacement and Anti-Buckling Ability" *Micromachines* 10, no. 10: 665.
https://doi.org/10.3390/mi10100665