Articles | Volume 7, issue 1
Mech. Sci., 7, 119–126, 2016
https://doi.org/10.5194/ms-7-119-2016
Mech. Sci., 7, 119–126, 2016
https://doi.org/10.5194/ms-7-119-2016

Research article 12 Apr 2016

Research article | 12 Apr 2016

Mechanical design, analysis and testing of a large-range compliant microgripper

Yilin Liu and Qingsong Xu

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

Ai, W. and Xu, Q.: New structural design of a compliant gripper based on the Scott-Russell mechanism, Int. J. Adv. Robot. Syst., 11, https://doi.org/10.5772/59655, 2014.
Arai, F. and Fukuda, T.: Adhesion-type micro end effector for micromanipulation, in: Proceedings of 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, 20–25 April 1997, IEEE, 2, 1472–1477, 1997.
Bergander, A., Driesen, W., Varidel, T., and Breguet, J.-M.: Development of miniature manipulators for applications in biology and nanotechnologies, in: Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2003), Las Vegas, NV, USA, 27–31 October 2003, 11–35, 2003.
Bruzzone, L. and Bozzini, G.: A flexible joints microassembly robot with metamorphic gripper, Assembly Autom., 30, 240–247, 2010.
Chang, S. and Du, B.: A precision piezodriven micropositioner mechanism with large travel range, Rev. Sci. Instrum., 69, 1785–1791, 1998.
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Short summary
This paper presents the design and testing of a new large-range compliant microgripper. The gripper arms not only provide large gripping range but deliver approximately rectilinear movement as the displacement in nonworking direction is extremely small. The large gripping range is enabled by a dual-stage flexure amplifier to magnify the stroke of piezoelectric actuator. Finite-element analysis simulation study has been conducted. A prototype of the gripper is developed for experimental testing.