From the mechanical analysis of a polyarticulated microgripper to the design of a compliant microgripper

Paul Bernardoni; Alain Riwan; Hellie Tsitsiris; Olivier Millet; Lionel Buchaillot; Stephane Regnier; Philippe Bidaud

doi:10.1117/12.539526

26 July 2004 From the mechanical analysis of a polyarticulated microgripper to the design of a compliant microgripper

Paul Bernardoni, Alain Riwan, Hellie Tsitsiris, Olivier Millet, Lionel Buchaillot, Stephane Regnier, Philippe Bidaud

Proceedings Volume 5383, Smart Structures and Materials 2004: Modeling, Signal Processing, and Control; (2004) https://doi.org/10.1117/12.539526
Event: Smart Structures and Materials, 2004, San Diego, CA, United States

Abstract

In this paper precise specifications are given for a microgripper based on a polyarticulated micromechanism. This polysilicon gripper actuated by Scratch Drive Actuators (SDA) has dimensions of 1.2mm.x 1.6mm and a thickness of 0.0045mm. The stroke of its jaws is about 0.275mm each, with a stroke ratio of 5. These specifications can be useful to compare such compliant micromechanisms. In particular, we propose an alternative to the polyarticulated mechanism based on a compliant structure. A new conceptual design method, based on compliant building blocks, is introduced. The proposed method, using a genetic algorithm, quickly leads to several compliant solutions. A compromise between these solutions has performances close to the polyarticulated microgripper (about 20% less).

Citation Download Citation

Paul Bernardoni, Alain Riwan, Hellie Tsitsiris, Olivier Millet, Lionel Buchaillot, Stephane Regnier, and Philippe Bidaud "From the mechanical analysis of a polyarticulated microgripper to the design of a compliant microgripper", Proc. SPIE 5383, Smart Structures and Materials 2004: Modeling, Signal Processing, and Control, (26 July 2004); https://doi.org/10.1117/12.539526

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