Displacement Analysis and Output Force Estimation of A Compliant Robotic Microgripper

Authors(2) :-Chintireddy Sharath Reddy, J. Jagadesh Kumar

Micromanipulators should be able to accurately control gripping force in order to avoid any damage to the small size delicate objects, which are less than 1mm size. Hence gripping force determination according to application and subsequently control of gripping is an essential parameter in micromanipulators. The present work deals with the study of a Four-piezo actuated compliant micro gripper, kinematical modelling of the micro gripper and estimation of output force using Pseudo-rigid body model (PRBM) of the gripper. The study involves computation of tip displacement of the micro-gripper using the available mathematical equations and formulae and thereafter comparing the results with Finite Element Method values of the 3D model of the gripper using ABAQUS. The current research also involves calculation of the gripping force using equations of motion of one finger of the gripper using SIMMECHANICS. Finally the feedback control mechanism is developed using SIMULINK to control the gripping force.

Authors and Affiliations

Chintireddy Sharath Reddy
M.Tech (Machine Design), Mechanical Engineering Department, Vidya Jyothi Institute of Technology, Hyderabad, Telangana, India
J. Jagadesh Kumar
Associate Professor, Mechanical Engineering Department, Vidya Jyothi Institute of Technology, Hyderabad, Telangana, India

Compliant Mechanism, PRBM (Pseudo-rigid body model), Abaqus, Simmechanics, Simulink.

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Publication Details

Published in : Volume 2 | Issue 5 | September-October 2016
Date of Publication : 2016-10-30
License:  This work is licensed under a Creative Commons Attribution 4.0 International License.
Page(s) : 91-96
Manuscript Number : IJSRSET1612519
Publisher : Technoscience Academy

Print ISSN : 2395-1990, Online ISSN : 2394-4099

Cite This Article :

Chintireddy Sharath Reddy, J. Jagadesh Kumar, " Displacement Analysis and Output Force Estimation of A Compliant Robotic Microgripper, International Journal of Scientific Research in Science, Engineering and Technology(IJSRSET), Print ISSN : 2395-1990, Online ISSN : 2394-4099, Volume 2, Issue 5, pp.91-96, September-October-2016.
Journal URL : http://ijsrset.com/IJSRSET1612519

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