期刊
JOURNAL OF MECHANICAL DESIGN
卷 143, 期 5, 页码 -出版社
ASME
DOI: 10.1115/1.4048217
关键词
microgripper; overloading protection; compliant mechanisms; negative stiffness; micro and nano systems
资金
- China Postdoctoral Science Foundation [2018M642905]
- National Natural Science Foundation of China [51375349]
- Shenzhen Science and Technology Program [JCYJ 20170306171514468]
This paper proposes a novel two-stage compliant constant force microgripper, which can adapt to different sizes of microparts and prevent overload damage. By utilizing the negative stiffness effect and connecting in parallel a two-stage negative stiffness module and a positive stiffness module, two-stage constant forces at different positions are obtained.
The manipulating objects of the micron scale are easily damaged, hence the microgrippers, the key components in micro manipulating systems, demand precise force control, plus miniaturized size. Consequently, the constant force microgrippers, generally lack the ability to fit different sizes. To avoid the overload damage, apply multi-size microparts and simplify the control method, a novel two-stage compliant constant force microgripper is proposed in this paper. Based on the negative stiffness effect, this gripper is connected in parallel with a two-stage negative stiffness module and a positive stiffness module. Then, the elliptic integral method and the pseudo-rigid-body method are both employed to derive the kinetostatic and dynamic performances. Finally, the analytical results are validated. It is observed that two-stage constant forces of 1.33 N in 305.6 mu m and 1.11 N in 330.8 mu m are acquired.
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