Design of compliant mechanisms using continuum topology optimization: A review

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.

Design and Control of a Compliant Microgripper With a Large Amplification Ratio for High-Speed Micro Manipulation

A Comprehensive Survey on Microgrippers Design: Mechanical Structure

A Comprehensive Survey on Microgrippers Design: Operational Strategy

Aluminium and aluminium alloys

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

Numerical simulation and experimental investigation of a topologically optimized compliant microgripper

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.

A modified post-processing technique to design a compliant based microgripper with a plunger using topological optimization

This article presents a novel design of monolithic compliant grippers for surgical applications. Compliant mechanisms are jointless mechanism and overcome the major traditional issues such as wear,...

Design of compliant gripper for surgical applications

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).

https://iopscience.iop.org/article/10.1088/1757-899X/149/1/012129/pdf

R. Bharanidaran

Papers

Numerical simulation and experimental investigation of a topologically optimized compliant microgripper

A modified post-processing technique to design a compliant based microgripper with a plunger using topological optimization

Design of compliant gripper for surgical applications

A new method for designing a compliant mechanism based displacement amplifier

Design and Development of Compliant Mechanisms Using Parameterization Technique