A novel, monolithic, contact-aided, displacement-delimited gripper is presented. It is designed to employ contact interactions between its deforming members to delimit the output displacement such that excessive forces on the soft, fragile work-pieces are thwarted. The mechanism is appropriated using the topology, shape, and size optimization algorithm which, in addition to yielding structural details, also determines the interacting members and nature of contact. The symmetric halves of this design can be actuated independently thus rendering it the manipulative capabilities in addition to gripping. A cantilevered flexible “U” structure when introduced between the gripper ports of this mechanism can yield additional benefits in terms of reduced gripping forces. Macroscale Teflon prototype of the mechanism is tested on various work-pieces having different stiffness properties. Using experimentally acquired vision data, reaction loads on the work-pieces and gripper ports are estimated probabilistically by solving a Dirichlet problem for continua undergoing large deformation.
Issue Section:
Research Papers
References
1.
Mankame
, N. D.
, and Ananthasuresh
, G. K.
, 2004
, “Topology Optimization for Synthesis of Contact-Aided Compliant Mechanisms Using Regularized Contact Modelling
,” Comput. Struct.
, 82
(15–16
), pp. 1267
–1290
.10.1016/j.compstruc.2004.02.0242.
Weight
, B. L.
, 2001
, “Development and Design of Constant Force Mechanisms
,” MS thesis, Brigham Young University, Provo, UT.3.
Herder
, J. L.
, and van den Berg
, F. P. A.
, 2000
, “Statically Balanced Compliant Mechanisms (SBCM's), An Example and Prospects
,” Proceedings of the Design Engineering Technical Conferences and Computer in Engineering Conference
, DETC2000/MECH-14144.4.
Millar
, A. J.
, Howell
, L. L.
, and Leonard
, J. N.
, 1996
, “Design and Evaluation of Compliant Constant-Force Mechanisms
,” Proceedings of the ASME Design Engineering Technical Conferences and Computers in Engineering Conference
, 96-DETC/MECH-1209.5.
Howell
, L. L.
, Midha
, A.
, and Murphy
, M. D.
, 1994
, “Dimensional Synthesis of Compliant Constant-Force Slider Mechanisms
,” Proceedings of DETC’94, ASME Design Engineering Technical Conferences,
DETC98/MEMD-71.6.
Parkinson
, M. B.
, Howell
, L. L.
, and Cox
, J. J.
, 1997
, “A Parametric Approach to the Optimization-Based Design of Compliant Mechanisms
,” Proceedings of the 23rd Design Automation Conference
, DETC97/DAC-3763.7.
Reddy
, A. N.
, Maheshwari
, N.
, Sahu
, D. K.
, and Ananthasuresh
, G. K.
, 2010
, “Miniature Compliant Grippers With Vision-Based Force Sensing
,” IEEE Trans. Rob.
, 26
(5
), pp. 867
–87
7.10.1109/TRO.2010.20562108.
Hajhashemi
, M. S.
, Barazandeh
, F.
, NazariNejad
, S.
, and Nadafi
, D. B. R.
, 2011
, “Design and Microfabrication of a Constant-Force Microgripper
,” J. Mech. Eng. Sci.
, 225
(11
), pp. 2739
–2748
10.1177/0954406211404910.9.
Ashkin
, 1970
, “Acceleration and Trapping of Particles by Radiation Pressure
,” Phys. Rev. Lett.
, 24
, pp. 156
–159
.10.1103/PhysRevLett.24.15610.
Nishioka
, M.
, Katsura
, S.
, Hirano
, K.
, and Mizuno
, A.
, 1997
, “Evaluation of Cell Characteristics by Step-Wise Orientational Rotation Using Optoelectrostatic Micromanipulation
,” IEEE Trans. Ind. Appl.
, 33
(5
), pp. 1381
–1388
.10.1109/28.63382311.
Puig-de-Morales
, M.
, Grabulosa
, M.
, Alcaraz
, J.
, Mullol
, J.
, Maksym
, G. N.
, Fredberg
, J. J.
, and Navajas
, D.
, 2001
, “Measurement of Cell Icrorheology by Magnetic Twisting Cytometry With Frequency Domain Demodulation
,” J. Appl. Physiol.
, 91
, pp. 1152
–1159
.12.
Crick
, F. H. C.
, and Hughes
, A. F. W.
, 1950
, “The Physical Properties of the Cytoplasm: A Study by the Means of the Magnetic Particle Method
,” Exp. Cell Res.
, 1
, pp. 37
–80
.10.1016/0014-4827(50)90048-613.
Yeung
, A.
, and Evans
, E.
, 1989
, “Cortical Shell-Liquid Core Model for Passive Flow of Liquid-Like Spherical Cells into Micropipettes
,” Biophys. J.
, 56
, pp. 139
–149
.10.1016/S0006-3495(89)82659-114.
Tang
, W. C.
, Nguyen
, T. C. H.
, and Howe
, R. T.
, 1992
, “Laterally Driven Polysilicon Resonant Microstructures
,” Sens. Actuators, A
, 20
(1–2
), pp. 25
–32
.10.1016/0250-6874(89)87098-215.
Fan
, L.
, Wu
, M.
, Choquette
, K.
, and Crawford
, M.
, 1997
, “Self-Assembled Microactuated XYZ Stages for Optical Scanning and Alignment
,” International Conference on Solid-State Sensors and Actuators
, Transducers
, June 16–19, Chicago, pp. 319
–322
.16.
Keller
, C. G.
, and Howe
, R. T.
, 1995
, “Nickel-Filled Thermally Actuated Tweezers
,” Transducer 8 International Conference on Solid-State Sensors and Actuators and Eurosensors IX
, June 25–29, Stockholm, Sweden
, Vol. 2
, pp. 552
–555
.17.
Nogimori
, W.
, Irisa
, K.
, Ando
, M.
, and Naruse
, Y.
, 1997
, “A Laser-Powered Microgripper
,” Proceedings of IEEE Tenth Annual International Workshop
, pp. 267
–271
.18.
Houston
, K.
, Eder
, C.
, Sieber
, A.
, Menciassi
, A.
, Carrozza
, M. C.
, and Dario
, P.
, 2007
, “Polymer Sensorised Microgrippers Using SMA Actuation
,” IEEE International Conference on Robotics and Automation
, April 10–14, Roma, Italy
, pp. 820
–825
.19.
Rakotondrabe
, M.
, Cl'evy
, C.
, and Lutz
, Ph.
, 2007
, “Modelling and Robust Position/Force Control of a Piezoelectric Microgripper
,” Proceedings of the 3rd Annual IEEE Conference on Automation Science and Engineering
, Sept. 22–25, Scottsdale, AZ
, pp. 39
–44
.20.
Suzuki
, Y.
, 1996
, “Flexible Microgripper and Its Application to Micro-Measurement of Mechanical and Thermal Properties
,” IEEE MEMS, Proceedings of Ninth Annual International Workshop
, February 11–15, San Diego, CA
, pp. 406
–411
.21.
Guoliang
, Ch.
, and Xinhan
, H.
, 2004
, “Research on Vacuum Micro-Gripper of Intelligent Micromanipulation Robots
,” Proceedings of the IEEE International Conference on Robotics and Biomimetics
, China
, pp. 279
–283
.22.
Deole
, U.
, and Lumia
, R.
, 2006
, “Measuring the Load-Carrying Capability of IPMC Microgripper Fingers
,” Conference (IECON) on Industrial Electronics
, November 7–10, Paris, France
, pp. 2933
–2938
.23.
Park
, J.
, Kim
, S.
, and Kim
, D.-H.
, 2005
, “Identification and Control of a Sensorized Microgripper for Micromanipulation
,” IEEE/ASME Trans. Mechatron.
, 10
(5
), pp. 601
–606
.10.1109/TMECH.2005.85610324.
Wang
, X.
, Ananthasuresh
, G. K.
, and Ostrowski
, J. P.
, 2001
, “Vision-Based Sensing of Forces in Elastic Objects
,” Sens. Actuators, A
, 94
, pp. 142
–156
.10.1016/S0924-4247(01)00705-125.
Greminger
, M. A.
, and Nelson
, B. J.
, 2004
, “Vision-Based Forces Measurement
,” IEEE Trans. Pattern Anal. Mach. Intell.
, 26
(3
), pp. 290
–298
.10.1109/TPAMI.2004.126230526.
Kamiyama
, K.
, Vlack
, K.
, Mizota
, T.
, Kajimoto
, H.
, Kawakami
, N.
, and Tachi
, S.
, 2005
, “Vision-Based Sensor for Real Time Measuring of Surface Traction
,” IEEE Comput. Graph. Appl.
, 25
(1
), pp. 68
–75
.10.1109/MCG.2005.2727.
Wang
, W.
, Liu
, X.
, Gelinas
, D.
, Ciruna
, B.
, and Sun
, Y.
, 2007
, “A Fully Automated Robotic System for Microinjection of Zebrafish Embryos
,” PLoS One
, 2
(9
), p. e862
.10.1371/journal.pone.000086228.
Cappelleri
, D.
, Piazza
, G.
, and Kumar
, V.
, 2009
, “Two-Dimensional, Vision-Based μn Force Sensor for Microrobotics
,” IEEE Int. Conf. Robot. Autom.
, May 12–17, Kobe, Japan
.29.
Nagendra Reddy
, B. V. S.
, Naik
, S. V.
, and Saxena
, A.
, 2010
, “Systematic Synthesis of Large Displacement Contact Aided Monolithic Compliant Mechanisms
,” ASME J. Mech. Des.
134
(1
), p. 011007
10.1115/1.4005326.30.
Rai
, A. K.
, Saxena
, A.
, and Mankame
, N. D.
, 2007
, “Synthesis of Path Generating Compliant Mechanisms Using Initially Curved Frame Elements
,” ASME J. Mech. Des.
, 129
, pp. 1056
–1063
10.1115/1.275719131.
http://www.animations.physics.unsw.edu.au/jw/weight_and_friction.htm, accessed on February 2, 2012.
32.
Reddy
, A. N.
, and Ananthasuresh
, G. K.
, 2008
, “On Computing the Forces From the Noisy Displacement Data of an Elastic Body
,” Int. J. Numer. Methods Eng.
, 76
, pp. 1645
–1677
.10.1002/nme.237333.
Crisfield
, M. A.
, 1997
, Non-Linear Finite Element Analysis of Solids and Structures
, Wiley
, New York
.Copyright © 2013 by ASME
You do not currently have access to this content.
