Modeling and Force Analysis of an Electrothermal Micro Gripper with Amplification Compliant Mechanism
Main Article Content
Abstract
This work reports a novel design of a micro gripper, in which V-shaped electrothermal actuators are used to create gripping force and a compliant mechanism is integrated to amplify displacements of the actuators. The gripper is designed to handle micro samples of various sizes from 5 µm to 50 µm by applying appropriate driving voltages. Those voltages are ranged from 5 V to 25 V, which are relatively low in comparison with driving voltages of the electrostatic micro grippers. The compliant mechanism with amplifying ratio 5.2, arranged between the actuators and the jaws, is aimed to compensate small strokes of the actuators. Simulation by Finite-Element Analysis has also been carried out to confirm results of the theoretical calculation and designing process. The micro gripper can be implemented in micro devices such as micro robots or micro assembling systems, in which it can perform gripping and transporting tasks.
Keywords
Micro gripper, V-shaped actuator, Compliant mechanism
Article Details
References
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[2]. A.Nikoobina, M.Hassani Niaki. Deriving and analyzing the effective parameters in microgrippers performance, Scientia Iranica В (2012) 19 (6), 1554-1563.
[3]. Olivier Millet et al. Electrostatic actuated micro gripper using an amplification mechanism, Sensors and Actuators A 114 (2004) 371-378.
[4]. S.K. Nah, Z.W. Zhong The A microgripper using piezoelectric actuation for micro-object manipulation, Sensors and Actuators A 133 (2007) 218-224.
[5]. Chang-Seong Jeon, Joon-Shik Park, Sang-Yeol Lee, Chan-Woo Moon Fabrication and characteristics of out-of-plane piezoelectric micro grippers using MEMS processes, Thin Solid Films 515 (2007) 4901-4904.
[6]. Bong-Seok Kim, Joon-Shik Park. Byoung Hun Kang, Chanwoo Moon Fabrication and property analysis of a MEMS micro-gripper for robotic micro-manipulation, Robotics and Computer-Integrated Manufacturing 28 (2012) 50-56
[7]. S.B.Choi, Y.M.Han, J.H.Kim, C.C.Cheong - Force tracking control of a flexible gripper featuring shape memory alloy actuators, Mechatronics 11 (2001) 677-690.
[8]. Z.W. Zhong. C.K. Yeong - Development of a gripper using SMA wire, Sensors and Actuators A 126 (2006) 375-381.
[9]. M.Kohl, B.Krevet, E.Just Shape memory alloy device, Sensors and Actuators A 97-98 (2002) pp. 646-652.
[10]. Timothy Moutlon. G.K. Ananthasuresh Micomechanical devices with embedded electro-themal-compliant actuation, Sensors and Actuators A, vol. 90 (2001), pp. 38-48.
[11]. B.E. Volland et al. Duo-action electro thermal micro gripper, Sensors and Actuators A, vol. 97-98 (2007), pp. 646-652.
[12]. Sridhar Kota et al. Design of Compliant Mechanisms: Applications to MEMS, Analog Integrated Circuits and Signal Processing (2001), 29.pp. 7-15.
[13]. Xiantao Sun, Weihai Chen, Yanling Tian, Sergej Fatikow.Rui Zhou, Jianbin Zhang, and Manuel Mikczinski - A novel flexure-based microgripper with double amplification mechanisms for micro/nano manipulation, Review of Scientific Instruments 84, 085002 (2013).
[14]. Byoung Hun Kang, John T. Wen Design of Compliant MEMS Grippers for Micro-Assembly Tasks, Proceedings of the 2006 IEEE/RSJ, DOI: 10.1109/IROS.2006.282626.
[15]. Nguyen Tuan Khoa, Dang Bao Lam, Dinh Khac Toan, Phạm Hong Phuc Design and fabrication of the micro bi-directional motor driven by electro-thermal actuators, Journal of Science and Technology, Vol. 69(2013), pp. 62-68.