Design and optimization of a decoupled serial constant force microgripper for force sensitive objects manipulation

Abstract To address coupling motion issues and realize large constant force range of microgrippers, we present a serial two-degree-of-freedom compliant microgripper (CCFMG) in this paper. output displacement compact structure, Scott–Russell amplification mechanisms, bridge-type lever mechanisms are combined to compensate stroke piezoelectric actuators. In addition, modules utilized achieve output. We investigated CCFMG’s performances by means pseudo-rigid body models finite element analysis. Simulation results show that the proposed CCFMG has 781.34 ${\unicode[Times]{x03BC}}\mathrm{m}$ X-direction 258.05 Y-direction, decoupling rates two directions 1.1% 0.9%, respectively. The average clamp is 37.49 N. ratios amplifier 7.02 3, Through analysis-based optimization, increased from initial 1.6 3 mm.