A novel compliant gripper utilizing double-bridge type displacement amplification for precision grasping
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https://doi.org/10.15625/0866-7136/23722Keywords:
compliant gripper, displacement amplification, double-bridge mechanism, finite element analysis, precision manipulationAbstract
Compliant grippers are crucial tools in micro-manipulation; however, a persistent challenge is how to effectively amplify the small travel strokes inherent in piezoelectric actuators. This study presents a compliant gripper architecture integrating a dual-bridge displacement amplification mechanism in series with a parallelogram-guided structure in a monolithic design. The dual-bridge configuration allows for significantly larger output displacement without compromising mechanical strength, while the parallelogram-guided coordination ensures linear function motion with minimal parasitic displacement. An analytical amplification model was developed and validated through comprehensive finite element analysis (FEA). The FEA results show a high displacement amplification ratio of 6.44, achieving a maximum travel stroke of 901.56 µm while maintaining operating stress within safe limits. Furthermore, parasitic movement was successfully confined to a low level, approximately 0.038\% of the output displacement. Detailed sensitivity analysis provided insights into the influence of design parameters such as fabrication material and hinge thickness on the gripper's performance. These findings enhance understanding of the compliant amplification mechanism and demonstrate the potential of the proposed micro-gripper for high-precision micro-manipulation and assembly applications.
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National Foundation for Science and Technology Development
Grant numbers 107.01-2024.01
