Rigidity Analysis of the Double Actuations Micro-gripper Based on Constraint Substitution

doi:10.3901/JME.2018.05.202

Abstract

Abstract: Rigidity is an important performance index of compliant micromanipulator. Accurate and efficient rigidity calculation method of compliant micromanipulator is the important guarantee of its structural analysis and optimization. To find out a better method, according to force method from structural mechanics a new idea for solving its rigidity is discussed. The compliant micromanipulator can be regarded as the statically indeterminate structure and it's redundant restraint can be replaced by unknown force to get the relative statically determinate structure. Solve the unknown force though the condition about harmony of displacement and then there will be a statically determinate structure with all known external force. Therefore rigidity of compliant micromanipulator can be solved by the common method. It is standardized and simplified according to the structural features of the planar compliant micromanipulator. Finally the common rigidity analysis method of planar compliant micromanipulator is built up and the normalized solving program is presented based on Matlab. At last, to test the program precision, rigidity of a compliant symmetrical gripper is obtained by this program. Results of the program are compared with that of finite element analysis. It is shown that the error is below 5%, proving the validation and precision of the presented method.

Key words: constraint substitution, force method, micro-gripper, rigidity

CLC Number:

TP242

GONG Jinliang, JIA Guopeng, ZHANG Yanfei. Rigidity Analysis of the Double Actuations Micro-gripper Based on Constraint Substitution[J]. Journal of Mechanical Engineering, 2018, 54(5): 202-209.

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