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R. Bharanidaran

Bio: R. Bharanidaran is an academic researcher from VIT University. The author has contributed to research in topic(s): Compliant mechanism & Topology optimization. The author has an hindex of 4, co-authored 16 publication(s) receiving 69 citation(s). Previous affiliations of R. Bharanidaran include National Institute of Technology, Tiruchirappalli & KCG College of Technology.

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Journal ArticleDOI
Abstract: In this research work, the compliant based microgripper is developed and the performance of the microgripper is studied through numerical simulation and experiential techniques Conceptual design of microgripper is developed through topology optimization which is logical, authenticate and effortless among other mechanism design methods such as Mechanism synthesis, Pseudo Rigid Body Model (PRBM) and inverse method In conceptual design of microgripper, node to node connections were developed and show the hinge locations of the mechanism These locations were replaced by introducing suitable flexure hinges The effect of flexure hinges at the node-to-node contact regions need to be analyzed for its critical geometric parameter The important critical geometric parameter of flexure hinges are varied and analyzed through Finite Element Method (FEM) and experimental studies In experimental technique, Shape Memory Alloy (SMA) wire is employed to actuate the microgripper Equivalent rigid body model of the mechanism using Graphical Position Analysis (GPA) to the compliant mechanism is developed for comparing the output displacement

30 citations

Journal ArticleDOI
Abstract: The precision of microobject manipulation is predominantly based on the appropriate design of micromanipulation devices such as microgrippers. A compliant mechanism-based microgripper is an appropriate choice to achieve a highly precise and controlled motion. This research article proposes a refined technique to design a compliant-based microgripper with a plunger. The topological optimization technique has been adopted in this research work to develop the conceptual design of the mechanism. Flexure hinges are introduced in the topologically optimized design to overcome the senseless regions developed during the optimization process which is highly complicated to manufacture. Various flexure hinge contours such as rectangular, circular, and elliptical are introduced in the conceptual design domain, and their effects are investigated. Various parameters of flexure hinges are considered; the stress, the displacements, and the strain energy stored in the mechanism are studied through finite element analysis (FEA). In addition to FEA, experimental verification of the design was also performed. Both results are convincing about the structural performance of the microgripper design. In general, microdevices possess higher surface forces than volumetric forces; hence, this design is introduced with a plunger segment which is used to push the microobject for an active release during micromanipulation.

16 citations

Journal ArticleDOI
Abstract: Design and development of compliant mechanism based systems with precision motion are the need of the hour in micro-precision industry. Compliant mechanisms coupled with the proper flexure hinge can provide excellent accuracy contrary to conventional rigid body mechanism. Various design methods are proposed to design a compliant mechanism such as structural optimization technique, Pseudo Rigid Body Model, Inverse Methods and Intuitive methods. Developing a manufacturable monolithic compliant mechanism is highly challenging. In this paper we have attempted a novel approach to design a compliant mechanism with circular based contemporary flexure hinge. The initial design of flexure hinge is designed intuitively and selection of appropriate geometrical parameters of the flexure hinges is another critical task in the design process. The developed hinges are parameterised using the general screening algorithm in ANSYS Workbench to obtain precise dimensions. The initial design of flexure hinge is designed as a curved beam which have fixed centre of rotation during execution. The method is implemented to design a four bar compliant mechanism and compared with the mathematical results. Scott-Russell straight line mechanism is also developed using this approach and verified its effectiveness. Dimensions of the developed hinges are also provided in the paper to enable future researchers to implement and improve the design.

4 citations

Journal ArticleDOI
01 Sep 2016
Abstract: Advancement of precision industries, displacement amplifying device is essential to produce precise and long range of motion for micro-actuator. Compliant mechanism based displacement amplifier (DA) is more appropriate to attain high precision motion. Compliant mechanism utilizes elastic nature of material to achieve required motion. In this research paper, compliant mechanism design is developed using topology optimization. The output of the topologically optimized design is impossible to fabricate as it is due to the presence of senseless regions. Hence, this optimized design is considered as a primary design of compliant mechanism which provides the configuration of kinematic linkages and also provides the details of the geometrical locations of the flexure hinges. Selection of appropriate geometrical parameters of the flexure hinges is another critical task in the design process and parameterization technique is used to determine flexure hinge parameters. Structural performance of mechanical amplifier confirmed using finite element method (FEM).

4 citations

Journal Article
Abstract: High precision in motion is required to manipulate the micro objects in precision industries for micro assembly, cell manipulation etc. Precision manipulation is achieved based on the appropriate mechanism design of micro devices such as microgrippers. Design of a compliant based mechanism is the better option to achieve a highly precised and controlled motion. This research article highlights the method of designing a compliant based three fingered microgripper suitable for holding asymmetric objects. Topological optimization technique, a systematic method is implemented in this research work to arrive a topologically optimized design of the mechanism needed to perform the required micro motion of the gripper. Optimization technique has a drawback of generating senseless regions such as node to node connectivity and staircase effect at the boundaries. Hence, it is required to have post processing of the design to make it manufacturable. To reduce the effect of post processing stage and to preserve the edges of the image, a cubic spline interpolation technique is introduced in the MATLAB program. Structural performance of the topologically developed mechanism design is tested using finite element method (FEM) software. Further the microgripper structure is examined to find its fatigue life and vibration characteristics. Keywords—Compliant mechanism, Cubic spline interpolation, FEM, Topology optimization.

3 citations

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Journal ArticleDOI
TL;DR: A survey of the state-of-the-art design advances in this research area over the past 20 years is presented and can be helpful to those engaged in the topology optimization of compliant mechanisms who desire to be apprised of the field’s recent state and research tendency.
Abstract: Compliant mechanisms have become an important branch of modern mechanisms. Unlike conventional rigid body mechanisms, compliant mechanisms transform the displacement and force at least partly through the deformation of their structural components, which can offer a great reduction in friction, lubrication and assemblage. Therefore, compliant mechanisms are particularly suitable for applications in microscale/nanoscale manipulation systems. The significant demand of practical applications has also promoted the development of systematic design methods for compliant mechanisms. Several methods have been developed to design compliant mechanisms. In this paper, we focus on the continuum topology optimization methods and present a survey of the state-of-the-art design advances in this research area over the past 20 years. The presented overview can be helpful to those engaged in the topology optimization of compliant mechanisms who desire to be apprised of the field’s recent state and research tendency.

100 citations

Journal ArticleDOI
Abstract: The design and control of a novel piezoelectric actuated compliant microgripper is studied in this paper to achieve fast, precise, and robust micro grasping operations. First, the microgripper mechanism was designed to get a large jaw motion stroke. A three-stage flexure-based amplification composed of the homothetic bridge and leverage mechanisms was developed and the key structure parameters were optimized. The microgripper was manufactured using the wire electro discharge machining technique. Finite element analysis and experimental tests were carried out to examine the performance of the microgripper mechanism. The results show that the developed microgripper has a large amplification factor of 22.6. Dynamic modeling was conducted using experimental system identification, and the displacement and force transfer functions were obtained. The position/force switching control strategy was utilized to realize both precision position tracking and force regulation. The controller composed of an incremental proportional-integral-derivative control and a discrete sliding mode control with exponential reaching law was designed based on the dynamic models. Experiments were performed to investigate the control performance during micro grasping process, and the results show that the developed compliant microgripper exhibits good performance, and fast and robust grasping operations can be realized using the developed microgripper and controller.

92 citations

Reference EntryDOI
31 Jan 2011

49 citations