DESIGN AND SYNTHESIS OF COMPLIANT MECHANISM FOR 3D MICRO-GRASPING

Mohammad Mayyas and Naveen Kumar

Keywords

Robotic grippers, compliant mechanisms, multi-finger grasping,kinematic analysis, contact problem

Abstract

This paper presents strategy for rapid topology design of three- dimensional (3D) robotics multi-scale manipulator, realized from five beams compliant mechanisms. The continuum structure is com- posed of symmetrical mechanism of compliant beams with fingers configured to handle small and irregular objects. The kinematic of the gripper is parameterized to characterize the deformation of the beams under various boundary conditions and combined input loading. Topology analysis is based on comparison of geometrical advantage between input load and output motion, revealing supe- riority of the mechanisms including its ability to combine fine and coarse motion. A method for coupling the point-contact problem of grasping with the stiffness matrix is introduced in this paper. In addition, the structural deformation of the gripper fingertips is out- lined to satisfy the mechanical design requirements for various load- ings, geometrical configurations and materials; allowing a quicker design for manufacturability based on 3D fabrication techniques. Geometrical advantage experiments are performed on the basis of single input–output measurements of displacement, confirming the accuracy of the proposed numerical analysis.

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