DocumentCode :
2251139
Title :
Optimal design of a novel micro-gripper with completely parallel movement of gripping arms
Author :
Xiao, Shunli ; Li, Yangmin ; Zhao, Xinhua
Author_Institution :
Dept. of Electromech. Eng., Univ. of Macau, Taipa, China
fYear :
2011
fDate :
17-19 Sept. 2011
Firstpage :
35
Lastpage :
40
Abstract :
This paper presents the optimal design and analysis of a microgripper which has absolutely parallel movement of the gripping arms when it grasps or releases micro objects. By employing a compact displacement amplifier and several flexure supporting hinges, a novel gripper with simple symmetric structure driven by piezoelectric actuators has been designed. The kinematics and dynamic modeling of the gripper are conducted by resorting to compliance and stiffness analysis based on matrix method. The safety factor of the gripper is analyzed and conducted. Radius basis functional network (RBFN) is used to solve the analytical equations. At last, the parameters are optimized via RBFN based multi-objective GA optimization method, a set of optimal solutions can provide with good suggestions for parameters selections.
Keywords :
genetic algorithms; grippers; manipulator dynamics; manipulator kinematics; matrix algebra; micromanipulators; neurocontrollers; piezoelectric actuators; radial basis function networks; GA optimization method; RBFN; Radius basis functional network; compact displacement amplifier; genetic algorithm; gripping arms; matrix method; micro objects; novel microgripper; optimal design; parallel movement; piezoelectric actuators; Fasteners; Force; Grippers; Optimization; Radial basis function networks; Safety; Stress;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics, Automation and Mechatronics (RAM), 2011 IEEE Conference on
Conference_Location :
Qingdao
ISSN :
2158-2181
Print_ISBN :
978-1-61284-252-3
Type :
conf
DOI :
10.1109/RAMECH.2011.6070452
Filename :
6070452
Link To Document :
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