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Development of a Novel Modular Compliant Gripper for Manipulation of Micro Objects.

ABSTRACT: This paper proposes a modular gripping mechanism for the manipulation of multiple objects. The proposed micro gripper combines traditional machining techniques with MEMS technologies to produce a modular mechanism consisting of a sturdy, compliant aluminium base and replaceable end-effectors. This creates an easily-customisable solution for micro manipulation with an array of different micro tips for different applications. We have provided the kinematic analysis for the gripper to predict the output and have also optimised design parameters based on FEA (finite element analysis) simulation and the effects of altering flexure beam lengths. The gripper is operated by a piezo actuator capable of 18 μ m displacement at 150 V of applied DC voltage. This is then amplified by a factor of 8.1 to a maximum tip displacement of 154 μ m. This is achieved by incorporating bridge and lever amplifying techniques into the design. An initial experimental analysis of the micro gripper is provided to investigate the performance of the micro gripper and to gauge the accuracy of the theory and simulation through comparison with experimental results.

SUBMITTER: Lofroth M

PROVIDER: S-EPMC6562808 | biostudies-literature | 2019 May

REPOSITORIES: biostudies-literature

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Development of a Novel Modular Compliant Gripper for Manipulation of Micro Objects.

Lofroth Matthew M Avci Ebubekir E

Micromachines 20190509 5

This paper proposes a modular gripping mechanism for the manipulation of multiple objects. The proposed micro gripper combines traditional machining techniques with MEMS technologies to produce a modular mechanism consisting of a sturdy, compliant aluminium base and replaceable end-effectors. This creates an easily-customisable solution for micro manipulation with an array of different micro tips for different applications. We have provided the kinematic analysis for the gripper to predict the o ...[more]

PMID: 31075913

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Project description:A single universal robotic gripper with the capacity to fulfill a wide variety of gripping and grasping tasks has always been desirable. A three-dimensional (3D) printed modular soft gripper with highly conformal soft fingers that are composed of positive pressure soft pneumatic actuators along with a mechanical metamaterial was developed. The fingers of the soft gripper along with the mechanical metamaterial, which integrates a soft auxetic structure and compliant ribs, was 3D printed in a single step, without requiring support material and postprocessing, using a low-cost and open-source fused deposition modeling (FDM) 3D printer that employs a commercially available thermoplastic poly (urethane) (TPU). The soft fingers of the gripper were optimized using finite element modeling (FEM). The FE simulations accurately predicted the behavior and performance of the fingers in terms of deformation and tip force. Also, FEM was used to predict the contact behavior of the mechanical metamaterial to prove that it highly decreases the contact pressure by increasing the contact area between the soft fingers and the grasped objects and thus proving its effectiveness in enhancing the grasping performance of the gripper. The contact pressure can be decreased by up to 8.5 times with the implementation of the mechanical metamaterial. The configuration of the highly conformal gripper can be easily modulated by changing the number of fingers attached to its base to tailor it for specific manipulation tasks. Two-dimensional (2D) and 3D grasping experiments were conducted to assess the grasping performance of the soft modular gripper and to prove that the inclusion of the metamaterial increases its conformability and reduces the out-of-plane deformations of the soft monolithic fingers upon grasping different objects and consequently, resulting in the gripper in three different configurations including two, three and four-finger configurations successfully grasping a wide variety of objects.

Dataset Information

Development of a Novel Modular Compliant Gripper for Manipulation of Micro Objects.

Publications

Development of a Novel Modular Compliant Gripper for Manipulation of Micro Objects.

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