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Design of a novel spatial micro-gripper for manipulating irregular shape micro objects

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Abstract

A novel spatial micro gripper for manipulating different size and irregular shape objects was presented. Two clamping links are mutually vertically placed in order to form four-point contact clamping mouth. The two-stage lever principle is applied to design the clamping links with the function of displacement amplification. The links structure comprises a lower groove and an upper groove. Two links can be actuated by only an actuator by nested assembling the upper and lower grooves in order to complete the spatial clamping operation. In order to improve the opening distance and clamping stability of the proposed micro-gripper, the model reflecting the relationship between the performances and structural parameters can be obtained based on support vector machine. The performance indexes can be optimized based on the model, and the opening distance increases by 15.64%, the clamping stability increases by 73%. The proposed spatial micro-gripper is used to manipulate the small bolt and resistance. The experimental results show that the micro gripper can clamp them stably, and it illustrates that the design idea and optimization method of micro gripper are effective.

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Funding

This work was funded by National Natural Science Foundation of China to Junfeng Hu with grant numbers No. 51265016 and 51565016.

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Authors and Affiliations

  1. Jiangxi Agriculture University & College of Engineering, Nanchang, 330045, China

    Jianyang Cai

  2. School of Mechanical & Electrical Engineering, Jiangxi University of Science and Technology, Ganzhou, 341000, China

    Junfeng Hu

Authors
  1. Jianyang Cai
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  2. Junfeng Hu
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Correspondence to Jianyang Cai.

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Cai, J., Hu, J. Design of a novel spatial micro-gripper for manipulating irregular shape micro objects. Microsyst Technol 28, 1959–1969 (2022). https://doi.org/10.1007/s00542-022-05340-6

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  • DOI: https://doi.org/10.1007/s00542-022-05340-6

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