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Proceedings Paper

Design of micro robots with microgrippers for manipulation of micro-parts
Author(s): Siew Kuan Nah; Zhaowei Zhong
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Paper Abstract

In this paper, a design of a micro-robot system with microgrippers for the purpose of manipulation of micro-parts is proposed. The methodology includes the integration of micro-actuators for micromanipulation tasks of requirements that will involve small size, low weight, high resolution, high linearity and high accuracy. The combination of micro-assembly stages and microgrippers with CNC technology will allow the fixing of a microgripper onto a CNC robot. In order to minimize the size of the microgripper, the structure is fabricated as a monolithic piece with elastic flexure hinges. The microgripper mechanism consists of flexure notch hinges and parallel movement of the gripping arms. These elements transmit the gripping force and gripping motion and realize a good mechanical advantage ratio. The compliant mechanism system of the microgrippers is analyzed using a theoretical pseudo-rigid-body model and flexural hinge equation to investigate and predict the displacement and force relationships between the inputs and the outputs. In addition, a finite element study is done on the mechanism model to compare with the theoretical results.

Paper Details

Date Published: 12 April 2005
PDF: 8 pages
Proc. SPIE 5852, Third International Conference on Experimental Mechanics and Third Conference of the Asian Committee on Experimental Mechanics, (12 April 2005); doi: 10.1117/12.621681
Show Author Affiliations
Siew Kuan Nah, Nanyang Technological Univ. (Singapore)
Zhaowei Zhong, Nanyang Technological Univ. (Singapore)


Published in SPIE Proceedings Vol. 5852:
Third International Conference on Experimental Mechanics and Third Conference of the Asian Committee on Experimental Mechanics
Chenggen Quan; Fook Siong Chau; Anand Asundi; Brian Stephen Wong; Chwee Teck Lim, Editor(s)

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