A new structure to achieve large-scale damage-avoiding capture based on compliant mechanism
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TECHNICAL PAPER
A new structure to achieve large-scale damage-avoiding capture based on compliant mechanism Xigang Chen1 • Yangmin Li1 Received: 22 June 2020 / Accepted: 3 August 2020 Ó Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract This article studies the design and analysis of a new large-scale high precision compact gripper to achieve damageavoiding capture using compliant mechanism. The gripper is constructed using flexure hinges and it is actuated by only one piezoelectric stack actuator (PSA). The compact damage-avoiding gripper [CDAG] is consisted of compact two-stage amplifier module and constant force mechanism module. The effect of constant force structure module is realized by integrating the positive stiffness beam with the negative stiffness beam. The compact two-stage amplifier is composed of two classical bridge amplifier in series so as to augment the ratio of amplification. The gripper will be analyzed by Finiteelement analysis software to simulate its function.
1 Introduction The research projects of high precision manipulation engineering around the world are increasing rapidly in recent decades because of the necessary of all kinds of industrial fields. Particularly, the technology of damageavoiding micro-manipulation is extensively used in some fields such as medical apparatus and instruments, semiconductor and precision automatic assembly (Xiao et al. 2017; Tian et al. 2018, 2019; Cai et al. 2017). According to the characteristics of different actuators, many kinds of micro-manipulation platforms and grippers have been proposed in the literature (Chen et al. 2005; Liu et al. 2017; Kim et al. 2013; Ding et al. 2020). The new structure of micro manipulator proposed in this paper adopts piezoelectric translator (PZT) actuator as driver due to the advantages such as high precision (Tang and Chen 2006) and quick response capabilities (Lobontiu 2002). Traditionally, the method of regulating the grasping force is the most important issue in the field of precision manipulation operations in order to avoid damage the objects. The difficulty of this problem is that how to regulate the gripping force to avoid destroying the target & Yangmin Li [email protected] 1
Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon City 999077, Hong Kong SAR, China
object (Liu et al. 2017). Presently, most grippers have been proposed which are fabricated with controllers and various sensors to regulate the force. Nevertheless, these systems mostly need not only the force control but also the position control to achieve the purpose of force adjustment. Hence, it increases the complexity of design and manufacturing. Moreover, the reliability of the product isn’t very high in commercial application. Some new solutions to solve this problem have been proposed in some literature (Ouyang et al. 2008), such as constant-force gripper. This type of gripper can utilize the property of mechanical structure to ad
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