دانلود رایگان مقاله لاتین آزمایش استاتیک گیرنده از سایت الزویر
عنوان فارسی مقاله:
طراحی و آزمایش استاتیک گیرنده مطلوبیت توزیع فشرده بر اساس حرکت خمش
عنوان انگلیسی مقاله:
Design and static testing of a compact distributed-compliance gripper based on flexure motion
سال انتشار : 2016
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مقدمه انگلیسی مقاله:
1. Introduction
Traditional rigid-body grippers often suffer from issues of poor resolution and repeatability associated with backlash and friction inherent in their joints [1], which are thus not suitable for handing delicate/brittle materials such as powder granular or manipulating sub-millimetre objects such as optical fibre and micro-lens. Compliant mechanisms (CMs), aka flexure mechanisms, transfer and transform motion, load and energy by deformation of their flexible members (materials) [2–4], which are good candidates to remove the above mentioned issues in traditional grippers. In addition, CMs can be easily miniaturised, can reduce the number of parts (thereby raising the system reliability) and are free of assembly by a monolithic fabrication. CM-based grippers (compliant gripper) have been successfully used in the applications of precision robotic manipulation, biomedical devices and microelectromechanical systems (MEMS) [5–15]. There are mainly two methods to design a compliant gripper: structure optimisation method [12,14,15], and kinematics-based substitution method [5–10,13]. The former design approach is to re-consider the design task as an optimal material distribution problem so that the resulting structure can fulfil the specified motion requirements. The optimisation approach based design involves three aspects: (a) topology, i.e. the connectivity of material, (b) size, i.e. the crosssectional area of each segment, and (c) geometry, i.e. the orientations of the connecting segments and locations of the junctions [12]. For example, Zhu et al. [15] conducted topology optimisation of hinge-free compliant mechanisms with multiple outputsusing a level setmethod.However,this optimisation approach generates compliant mechanisms that can be highly sensitive tomanufacture error.The latterdesignapproachis the one that we intend to use in this paper due to the well-known simplicity and clear kinematic meaning. The general procedure touse this approachtodesigna gripper canbe shownas follows: (a) Selecting a proper rigid-body kinematic mechanism with/ without an input amplification mechanism; (b) Choosing proper compliant joints to replace traditional joints in the rigid-body kinematic mechanism; (c) Arranging relative positions of adjacent compliant joints if possible for most compact design; (d) Check if the final compliant gripper meets the design requirements. If not, repeat the above steps. Using the kinematics-based substitution method, lumpedcompliance joints (or flexure hinges) [5–10] are often chosen since they enable to directly replace their rigid-body counterparts inthe traditional parallelogrammechanisms, slider-crank mechanisms, and straight-line linkages [5–10], in order to design a compliant gripper. For example, Ref. [10] reported an asymmetric flexible micro-gripper mechanism based onflexure hinges, where the parallelogram mechanism is employed to guide motion of one jaw with the input displacement amplified by a lever mechanism. However, lumped-compliance leads to limited motion range, and can cause stress-concentration issues and especially requires a large actuation force. The large actuation force is able to be offered by piezoelectric (PZT) actuators with high-precision [5–10]. The use of a PZT actuator requires pre-stressing and particularly needs a displacement amplification mechanism [5–10,16] to amplify the input displacement since the PZT actuator only produces tiny displacements. Despite the merit, the introduction of a displacement amplification mechanism adversely degrades the resolution of the actuator. Due to the hysteresis issue from the PZT actuator [17], an open-loop control is not feasible. Moreover, it is still a challenging open issue to design a very compact compliant gripper since the compliant gripper's configuration is usually limited by its rigid-body kinematic mechanism when using the lumped-compliance joints. Based on the above advances, there is a necessity in this paper to design a new and simple macroscale compliant gripper based on the following desired design specifications, which enables more selections of compliant grippers in different application requirements.
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کلمات کلیدی:
Design and static testing of a compact distributed-compliance gripper ... https://www.researchgate.net/.../301594092_Design_and_static_testing_of_a_compact_d... Apr 25, 2016 - Official Full-Text Publication: Design and static testing of a compact distributed-compliance gripper based on flexure motion on ResearchGate, ... Design and static testing of a compact distributed-compliance gripper ... yadda.icm.edu.pl/.../bwmeta1.element.baztech-2ee42cc6-0cbe-43f8... - Translate this page by G Hao - 2016 - Cited by 4 - Related articles There are precision issues with traditional rigid-body grippers due to their nature in presence of joints' backlash and friction. This paper presents a macroscale ... Design and static testing of a compact distributed-compliance ... - ISI-dl isi-dl.com/item/99813 Toggle navigation logo. Free Journal Paper Download. Sources ?? acm.org · acs.org · aiaa.org · aip.org · ajhp.org · ajnr.org · ajronline.org · ajsonline.org · ajtmh. [PDF]Full-Text PDF - MDPI www.mdpi.com/2072-666X/8/5/150/pdf by M Zhou - 2017 May 8, 2017 - Finally, a vibration test was carried out to obtain the first natural ...... R.B. Design and static testing of a compact distributed-compliance gripper ... Applied Sciences | Free Full-Text | Feasibility Study of a Gripper with ... www.mdpi.com/2076-3417/6/11/367/html This paper proposes a simple and compact compliant gripper, whose gripping stiffness ... A prototype is fabricated with physical testing to verify the feasibility. ... G.; Hand, R. Design and static testing of a compact distributed-compliance gripper ... Towards a force-controlled microgripper for assembling biomedical ... iopscience.iop.org/article/10.1088/0960-1317/10/2/328/meta by MC Carrozza - 2000 - Cited by 149 - Related articles A compact stepper motor actuated disposable microgripper ... Design and static testing of a compact distributed-compliance gripper based on flexure motion Publications and Others - Google Sites https://sites.google.com/site/doctorghao/publications?tmpl...showPrintDialog=1 Guangbo Hao*, 2017, "Design and analysis of symmetric and compact 2R1T ... "Design and static testing of a compact distributed-compliance gripper based on ... Determinate Synthesis of Symmetrical ... - Journal of Tribology - ASME tribology.asmedigitalcollection.asme.org/data/journals/.../md_139_04_042303.pdf?...1 Feb 24, 2017 - distributed-compliance by using slender beams is prevailing in the ...... Hao, G., and Hand, R. B., 2016, “Design and Static Testing of a Compact.
