This paper describes the design, modeling, and testing of a novel flexure-based microgripper for a large jaw displacement with high resolution. Such a microgripper is indispensable in micro/nano manipulation. In achieving a large jaw displacement, double amplification mechanisms, namely, Scott-Russell mechanism and leverage mechanism arranged in series, are utilized to overcome the limited output of microgrippers driven by piezoelectric actuators. The mechanical performance of the microgripper is analyzed using the pseudo rigid body model approach. Finite element analysis is conducted to evaluate the performance and validate the established models for further optimum design of the microgripper. The prototype of the developed microgripper is fabricated, with which experimental tests are carried out. The experimental results show that the developed microgripper is capable of handling various sized micro-objects with a maximum jaw displacement of 134 μm and a high amplification ratio of 15.5.
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August 2013
Research Article|
August 13 2013
A novel flexure-based microgripper with double amplification mechanisms for micro/nano manipulation
Xiantao Sun;
Xiantao Sun
1School of Automation Science and Electrical Engineering,
Beihang University
, Beijing 100191, China
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Weihai Chen;
Weihai Chen
a)
1School of Automation Science and Electrical Engineering,
Beihang University
, Beijing 100191, China
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Yanling Tian;
Yanling Tian
2School of Mechanical Engineering,
Tianjin University
, Tianjin 300072, China
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Sergej Fatikow;
Sergej Fatikow
3Division of Microrobotics and Control Engineering,
University of Oldenburg
, Oldenburg 26111, Germany
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Rui Zhou;
Rui Zhou
1School of Automation Science and Electrical Engineering,
Beihang University
, Beijing 100191, China
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Jianbin Zhang;
Jianbin Zhang
4School of Mechanical Engineering and Automation,
Beihang University
, Beijing 100191, China
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Manuel Mikczinski
Manuel Mikczinski
3Division of Microrobotics and Control Engineering,
University of Oldenburg
, Oldenburg 26111, Germany
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Xiantao Sun
1
Weihai Chen
1,a)
Yanling Tian
2
Sergej Fatikow
3
Rui Zhou
1
Jianbin Zhang
4
Manuel Mikczinski
3
1School of Automation Science and Electrical Engineering,
Beihang University
, Beijing 100191, China
2School of Mechanical Engineering,
Tianjin University
, Tianjin 300072, China
3Division of Microrobotics and Control Engineering,
University of Oldenburg
, Oldenburg 26111, Germany
4School of Mechanical Engineering and Automation,
Beihang University
, Beijing 100191, China
a)
Author to whom correspondence should be addressed. Electronic mail: [email protected].
Rev. Sci. Instrum. 84, 085002 (2013)
Article history
Received:
May 27 2013
Accepted:
July 23 2013
Citation
Xiantao Sun, Weihai Chen, Yanling Tian, Sergej Fatikow, Rui Zhou, Jianbin Zhang, Manuel Mikczinski; A novel flexure-based microgripper with double amplification mechanisms for micro/nano manipulation. Rev. Sci. Instrum. 1 August 2013; 84 (8): 085002. https://doi.org/10.1063/1.4817695
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