This paper presents the design, modeling, fabrication, and test of a monolithic compliant gripper for micro-manipulation applications. A compact compliant mechanism that enables in-principle straight-line parallel jaw motion is obtained, by combining the Scott–Russell mechanism and the parallelogram mechanism. The right-circular corner-filleted (RCCF) flexure hinge is adopted to achieve a large displacement of lumped-compliance joints. A pseudo-rigid-body model (PRBM) method with the help of the virtual work principle is performed to obtain parametric analytical models including the amplification coefficient and kinetostatics. Finite element analysis (FEA) is conducted to validate the analytical model and capture adverse parasitic motions of jaws. A monolithic prototype was fabricated, the test results of which show satisfactory performances.

中文翻译：

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使用Scott-Russell机构设计和测试紧凑的柔顺抓爪

本文介绍了用于微操纵应用的单片顺应式抓爪的设计，建模，制造和测试。通过结合Scott-Russell机构和平行四边形机构，可以获得一种紧凑的顺应性机构，该机构能够实现原理上的直线平行下巴运动。采用右圆角圆角（RCCF）挠性铰链，以实现集总兼容接头的大位移。借助虚拟工作原理，进行了伪刚体模型（PRBM）方法，以获得包括放大系数和运动静力学的参数分析模型。进行了有限元分析（FEA）以验证分析模型并捕获颚的不利寄生运动。制作了整体原型，其测试结果显示出令人满意的性能。