Peer-Reviewed Journal Details
Mandatory Fields
Zhu, Jiaxiang; Hao, Guangbo
2020
September
Archives of Civil and Mechanical Engineering
Design and test of a compact compliant gripper using the Scott–Russell mechanism
Validated
WOS: 1 ()
Optional Fields
Compact configuration Compliant gripper Large displacement Micro-manipulation Straight-line motion
20
3
1
12
This paper presents the design, modeling, fabrication, and test of a monolithic compliant gripper for micro-manipulation applications. A compact compliant mechanism that enables in-principle straight-line parallel jaw motion is obtained, by combining the Scott–Russell mechanism and the parallelogram mechanism. The right-circular corner-filleted (RCCF) flexure hinge is adopted to achieve a large displacement of lumped-compliance joints. A pseudo-rigid-body model (PRBM) method with the help of the virtual work principle is performed to obtain parametric analytical models including the amplification coefficient and kinetostatics. Finite element analysis (FEA) is conducted to validate the analytical model and capture adverse parasitic motions of jaws. A monolithic prototype was fabricated, the test results of which show satisfactory performances.
1644-9665
10.1007/s43452-020-00085-3
Grant Details