An analytical method for design of compliant grippers with macro/micro manipulation and assembly applications
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Journal Volume
2
Start Page
1023
End Page
1028
ISSN
21596247
21596255
ISBN (of the container)
9781479957361
9781467325752
9781424412648
9781424480319
9781467391078
1424412641
9781509020652
9781424428533
0780377591
9798350355369
Date Issued
2005
Author(s)
Lee, Kok-Meng Meng
Abstract
A compliant gripper gains its dextral manipulation by the flexnral motion of its fingers. It is a preferable device to grippers with actuations because of reduced fabrication complexity and increased structural reliability. The prediction of contact forces and deflected shape are essential to the design of a compliant gripper. We present here a formulation based on Nonlinear Constrained Optimization (NCO) techniques to analyze contact problems of compliant grippers. For a planar compliant gripper this formulation essentially reduces the domain of discretization by one dimension. Hence it requires simpler formulation and is computationally more efficient than other methods such as finite element analysis. As this method is rather generic, its use will facilitate design analysis and optimization of compliant devices. We illustrate these attractive features with two types of compliant grippers; macro-handling and micro-assembly applications.
Event(s)
Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Subjects
Flexible Manipulators
Micro Manipulation
Assembly
Constraint Theory
Flexible Manipulators
Optimization
Problem Solving
Reliability
Contact Forces
Micro Manipulation
Nonlinear Constrained Optimization (nco)
Grippers
Description
Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005. Monterey, CA. conference code:65987
Type
conference paper