The paper presents a novel design of multi-fingered end-of-arm-tooling mechanism for handling micro–meso scale objects. More particularly, the research aims to develop a compliant prosthetic manipulator designed for rapid 3D manufacturability. The microgripper is constructed from a multiple compliant 5-beam mechanism arranged symmetrically to provide three-dimensional manipulation. Comprehensive one dimensional and three dimensional finite element modeling simulations are conducted including geometrical optimization, structural and dynamic analysis with and without grasping an object, modal and buckling analysis. The results showed capability to tune the structural responses to attain fine to coarse displacement allowing grasping of irregular shapes. Preliminary experimental results showed that using electromagnetic actuation as a source of force input to a 3D printed gripper introduces asymmetrical nonlinear response between the reaction force and displacement measured at the fingertip. Future improvement will involve investigating the effect of the digital printing and force feedback control methods to regulate fingertip displacement.

本文提出了一种新颖的多指臂末端工具设计，用于处理微观尺度的物体。更具体地说，该研究旨在开发一种为快速3D可制造性设计的顺应性假肢操纵器。微型夹具由对称布置的多柔顺5光束机构构成，可提供三维操作。进行了全面的一维和三维有限元建模仿真，包括几何优化，带和不带物体的结构和动力分析，模态和屈曲分析。结果表明，可以调节结构响应以实现从细到粗的位移，从而可以抓握不规则形状。初步实验结果表明，使用电磁驱动作为输入3D打印抓爪的力源，会在反作用力和指尖测得的位移之间引入非对称非线性响应。未来的改进将涉及调查数字印刷和力反馈控制方法来调节指尖位移的效果。