In the last decades, grippers have been employed extensively at the microscale, for example, in microbiology and in microassembly. In these fields, specifically, it is essential to improve the performance of these systems in terms of precision, actuation, and sensing of the gripping force. Recent investigations drew attention on the tip–environment interaction force, which gave rise to further studies on the tip compliance behavior. This paper reveals a new method for designing MEMS technology-based compliant microgrippers with prescribed specifications for the jaw tip compliance. This approach relies on the equivalence between a compliant mechanism and its corresponding pseudorigid-body model (PRBM), the former embedding conjugate surfaces flexure hinges (CSFHs) as flexures. Such correspondence has been assessed by means of finite element analysis (FEA) simulations and theoretical models.
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February 2017
Research-Article
Compliance Synthesis of CSFH MEMS-Based Microgrippers
Matteo Verotti,
Matteo Verotti
Department of Mechanical and
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: matteo.verotti@uniroma1.it
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: matteo.verotti@uniroma1.it
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Alden Dochshanov,
Alden Dochshanov
Department of Mechanical and
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: alden.dochshanov@uniroma1.it
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: alden.dochshanov@uniroma1.it
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Nicola P. Belfiore
Nicola P. Belfiore
Department of Mechanical and
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: belfiore@dima.uniroma1.it
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: belfiore@dima.uniroma1.it
Search for other works by this author on:
Matteo Verotti
Department of Mechanical and
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: matteo.verotti@uniroma1.it
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: matteo.verotti@uniroma1.it
Alden Dochshanov
Department of Mechanical and
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: alden.dochshanov@uniroma1.it
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: alden.dochshanov@uniroma1.it
Nicola P. Belfiore
Department of Mechanical and
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: belfiore@dima.uniroma1.it
Aerospace Engineering,
Sapienza University of Rome,
Rome 00184, Italy
e-mail: belfiore@dima.uniroma1.it
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received April 27, 2016; final manuscript received October 10, 2016; published online November 14, 2016. Assoc. Editor: Massimo Callegari.
J. Mech. Des. Feb 2017, 139(2): 022301 (10 pages)
Published Online: November 14, 2016
Article history
Received:
April 27, 2016
Revised:
October 10, 2016
Citation
Verotti, M., Dochshanov, A., and Belfiore, N. P. (November 14, 2016). "Compliance Synthesis of CSFH MEMS-Based Microgrippers." ASME. J. Mech. Des. February 2017; 139(2): 022301. https://doi.org/10.1115/1.4035053
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