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1、MechanismDesignandAnalysisofaNovel2-DOFCompliantModularMicrogripperQingsongXuDepartmentofElectromechanicalEngineeringFacultyofScienceandTechnologyUniversityofMacauAv.PadreTom´asPereira,Taipa,MacaoSAR,ChinaE-mail:qsxu@umac.moAbstract—Microgrippersplayacrucialroleinmicro-facilitatem
2、oredexterousmanipulationsuchasrollingtheob-/nanomanipulationsystemsdedicatedtoautomatichandlingofjects,gripperarmswithmoreDOFareneeded.Althoughafewtinyobjects.Inthispaper,anideaofmodulardesignisproposed2-DOFgrippershavebeenreported[8],[9],thegripperarmstodeviseacompliantmicrogripp
3、erwithtwodegree-of-freedom(2-DOF)alongwithparalleltranslationalmotionofthegripperhavecoupledmotions,whichcomplicatesthecontrolschemearms.Amicrogripperwith2,3,and4armsisproposedasdesign.Ontheotherhand,mostoftheexistingmicrogrippersanillustration.Themodulardesignenableseasyadjustmen
4、tconsistoftwoarmsworkingwithrotationalmotion.Duringoftheinitialclearancebetweenthegripperarmsandreducesthegrippingprocedure,reactionforcesoccuratthecontactthehardwarecostintermsofmanufacturingandmaintenance.pointsbetweenthegripperarmsandthegrippedobject.IntheBasedonthemethodologyo
5、fpseudo-rigid-body(PRB)model,analyticalmodelsarederivedtoquantifythegripper’sstroke,scenariosofgrippingobjectswithcurvedorcircularsurface,actuationstiffness,andoutputcompliance.Theestablishedthereactionforceshaveatrendtopushthegrippedobjectoutmodelsareverifiedbyperformingfiniteeleme
6、ntmodel(FEM)ofthegripperarms[10].Therefore,microgripperswithparallelsimulations.Theresultsconfirmthatthegripperhasadecoupledmovementofthearmsaremorepreferable[11].Nevertheless,translationalmotionintwoaxesandownsahighresonantintheliterature,theproposedparallelmovinggrippers[10],freq
7、uency,whichenablestheadoptionofsimplecontrolschemeaswellasthegenerationofrapidtransientresponse.The[11]onlyhaveoneDOF.conceptdesignpresentedinthispaperprovidesasoundbaseinConsideringtheaforementionedtwoissues,themotivationdevelopingnewmicrogrippersformicro/nanomanipulationandofthe
8、currentresearchistodesignanovel2-
