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Proceedings Paper

From the mechanical analysis of a polyarticulated microgripper to the design of a compliant microgripper
Author(s): Paul Bernardoni; Alain Riwan; Hellie Tsitsiris; Olivier Millet; Lionel Buchaillot; Stephane Regnier; Philippe Bidaud
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Paper Abstract

In this paper precise specifications are given for a microgripper based on a polyarticulated micromechanism. This polysilicon gripper actuated by Scratch Drive Actuators (SDA) has dimensions of 1.2mm.x 1.6mm and a thickness of 0.0045mm. The stroke of its jaws is about 0.275mm each, with a stroke ratio of 5. These specifications can be useful to compare such compliant micromechanisms. In particular, we propose an alternative to the polyarticulated mechanism based on a compliant structure. A new conceptual design method, based on compliant building blocks, is introduced. The proposed method, using a genetic algorithm, quickly leads to several compliant solutions. A compromise between these solutions has performances close to the polyarticulated microgripper (about 20% less).

Paper Details

Date Published: 26 July 2004
PDF: 9 pages
Proc. SPIE 5383, Smart Structures and Materials 2004: Modeling, Signal Processing, and Control, (26 July 2004); doi: 10.1117/12.539526
Show Author Affiliations
Paul Bernardoni, Lab. d'Integration des Systemes et des Technologies/CEA-DRT (France)
Alain Riwan, Lab. d'Integration des Systemes et des Technologies/CEA-DRT (France)
Hellie Tsitsiris, Lab. d'Integration des Systemes et des Technologies/CEA-DRT (France)
Olivier Millet, Institut d'Electronique de Micro-electronique et de Nanotechnologie, CNRS (France)
Lionel Buchaillot, Institut d'Electronique de Micro-electronique et de Nanotechnologie, CNRS (France)
Stephane Regnier, Lab. de Robotique de Paris, CNRS and Univ. Pierre et Marie Currie, Paris-6 (France)
Philippe Bidaud, Lab. de Robotique de Paris, CNRS (France)


Published in SPIE Proceedings Vol. 5383:
Smart Structures and Materials 2004: Modeling, Signal Processing, and Control
Ralph C. Smith, Editor(s)

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