A New Two-Phase Design Process for a Compliant Mechanism Gripper

Abstract

The structural design of the components with high accuracy and controllable motion is the focus of precision industries. As a result, researchers found that components created via compliant mechanisms were much preferable. Monolithic structures known as compliant mechanisms allow motion to be achieved without the need of traditional joints. The compliant mechanisms make it easier to build microscale devices because they do not have hard junctions. In this study, a novel two-phase design methodology for compliant mechanism forceps is proposed. In order to eliminate high-stress areas, forceps are often constructed as a distributed compliant mechanism. To offer a distributed planar design, topological optimization is introduced with new approach. Design domain introduced with pattern of holes restricts the single point contact formation and large area formation which yield distributed compliant mechanism. The parametrization technique is implemented to convert the conceptual design to working design. The design of compliant forceps is assessed using finite element analysis (FEA) based on structural considerations. Finally, a handle-equipped microgripper prototype has been developed. Experimental verification demonstrates the gripper's performance and variation is less than 3% with numerical results. Integerated force sensor measure the gripping force and compared the reaction force estimated through FEA.