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Paper WeB06.6

Xiao, Shunli (University of Macau), Li, Yangmin (University of Macau)

Mobility and Kinematic Analysis of a Novel Dexterous Micro Gripper

Scheduled for presentation during the Regular Session "Micro and Nano Robots II" (WeB06), Wednesday, May 16, 2012, 11:45−12:00, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 23, 2018

Keywords Micro and Nanoscale Automation, Micro/Nano Robots, Parallel Robots

Abstract

The paper presents the design and analysis of a dexterous micro-gripper with two fingers and each finger has 2-DOF translational movement function. The two fingers can move independently in hundreds of microns' range, and can cooperate with each other to realize complex operation for micro objects. The mobility characteristics and the inverse parallel kinematic model of a single finger are analyzed by resorting to screw theory and compliance and stiffness matrix method, which are validated by finite-element analysis (FEA). Both FEA and the theoretical model have well validated the movement of the fingers moving in translational way, the designed micro gripper can realize a lot of complex functions. Properly selecting the amplification ratio and the stroke of the PZT, we can mount the gripper onto a positioning stage to realize a larger motion range, which will make it be widely used in micro parts assembly and bio-operation systems.

 

 

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