Bending Behavior of a Microgripper Compliant Joint Arm

Article Preview

Abstract:

For the mathematical modeling of the bending behavior on a microgripper compliant arm it is necessary to estimate the compliance impact on the system. In case of low bending force values, the linear dependence between force and elastic deformation is presumed. After performing bending experiments on full section and, respectively, compliant arms, there was determined an elastic coefficient allowing the mathematical modeling of the compliant beam as a full section beam and a moment of inertia reduced proportionally to the calculated elastic coefficient. The modeling results are consistent with the results of the experiments performed on the prototype.

You might also be interested in these eBooks

Info:

Periodical:

Pages:

372-377

Citation:

Online since:

October 2015

Export:

Price:

* - Corresponding Author

[1] B. Krevet, M. Kohl, 3D finite-element simulation of a shape memory microgripper, Proceedings of the SPIE – The International Society for Optical Engineering, San Diego (2003), 119-129.

DOI: 10.1117/12.484685

Google Scholar

[2] H. Du, C. Su, M.K. Lim, W.L. Jin, A micromachined thermally-driven gripper: a numerical and experimental study, Smart Materials and Structures, 8 (1999).

DOI: 10.1088/0964-1726/8/5/312

Google Scholar

[3] Y. Bellouard, T. Lehnert, J. E. Bidaux, T. Sidler, R. Clavel, R. Gotthardt, Smart Materials, Materials Science and Engineering - Structural Materials, (1999).

DOI: 10.1016/s0921-5093(99)00418-9

Google Scholar

[4] M. Salehi et al, Mechanical properties identification and design optimization of nitinol shape memory alloy microactuators, Smart Materials and Structures, 23/2 (2014).

DOI: 10.1088/0964-1726/23/2/025001

Google Scholar

[5] M. Gauthier, St. Reigner, Robotic Micro-Assembly, IEEE Press Editorial Board, (2010).

Google Scholar

[6] V. Despa, A. Catangiu, I. A. Ivan, Mechanical behaviour of CoCrMo alloy samples made by selective laser sintering, The Scientific Bulletin of Valahia Univ., No. 8/Year 11 (2013), 29-32.

Google Scholar

[7] Gh. Gheorghe et al, Micro-nanometrologically and topographic characterization of metallic pieces surfaces obtained by laser sintering, Dig. J. Nanomater. Bios., Vol. 8 (2013), 1037-1041.

Google Scholar

[8] V. Despa, A. Catangiu, D. N. Ungureanu, I. A. Ivan, Surface structure of CoCrMo and Ti6Al4V parts obtained by selective laser sintering, JOAM, Vol. 15. ISS. 7-8 (2013), 858-862.

Google Scholar

[9] V. Despa et al, Modeling and control of a microgripper based on electromagnetic actuation, The Scientific Bulletin of Valahia Univ., No. 9/Year 12, (2014), 131-136.

Google Scholar

[10] D. Vokoun et al, Journal of Magnetism and Magnetic Materials, 321, 22 (2009).

Google Scholar

[11] D. J. Griffiths, Introduction to Electrodynamics (3rd ed. ), Prentice Hall, section 6. 1 (1998).

Google Scholar

[12] V. Vorohobov, Interaction of cylindrical magnet with semi-space, Magneto-hydrodynamics, No. 2 (2010), 187-198.

Google Scholar