![]() ![]() Robotic micro- and nano-handling systems are important to realize the automated manipulation and assembly of objects in micro- and nanometre scales. Keywords Microgripper, mechanism design, Scott-Russell mechanism, FEA simulation Moreover, several variations of the gripper structure are presented as well. The results not only demonstrate the feasibility of the proposed SR-based gripper design but also reveal a promising performance of the gripper when driven by piezoelectric stack actuators. A prototype has been developed for experimental testing. The kinematics, statics and dynamics models of the gripper mechanism are established, and finite element analysis (FEA) simulations are carried out to verify the structure design. Unlike traditional pure-translation grippers, the reported SR-based gripper exhibits a simple structure as well as compact dimension because the in-plane space is fully used. The SR mechanism in combination with a parallelogram mechanism enables the achievement of a pure translation of the gripper tips, which is attractive for practical micromanipulation and microassembly applications. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. This is an open access article distributed under the terms of the Creative Commons Attribution License (), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. New Structural Design of a Compliant Gripper Based on the Scott-Russell Mechanismġ Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China Corresponding author(s) E-mail: 28 February 2014 Accepted 20 October 2014 International Journal of Advanced Robotic Systems ![]()
0 Comments
Leave a Reply. |
Details
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |