This paper presents the design and development of a flexure-based compliant microgripper to handle and manipulate objects of various sizes ranging from 500–1000 μm. A flexure based compliant microgripper is developed using pseudo rigid body (PRB) modeling, which is then optimized using multi-objective genetic algorithm. A simulation based methodology is adopted to predict the motion movement of the PRB-based and designed microgripper. The final prototype developed generates a maximum end deflection of 2200 μm at maximum force of 0.3 N. Linear and rotational positioning systems are incorporated to manipulate objects in 2D. The system has been successfully demonstrated to grip a metal wire of size 750 μm.
Design and Development of Compliant Microgripper-Based Assembly Station
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Shrivastava, K, & Joshi, SS. "Design and Development of Compliant Microgripper-Based Assembly Station." Proceedings of the ASME 2016 International Mechanical Engineering Congress and Exposition. Volume 10: Micro- and Nano-Systems Engineering and Packaging. Phoenix, Arizona, USA. November 11–17, 2016. V010T13A045. ASME. https://doi.org/10.1115/IMECE2016-68210
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