This paper presents a compact flexure-based microgripper for grasping/releasing tasks. The microgripper is based on a double-stair bridge-type mechanism and consists of a bridge-type mechanism for amplifying the input displacement and the integrated parallelogram mechanisms for linearizing the motion at the microgripper jaws. The displacement transmission, amplification, linearization are accomplished in a single-stage. Stiffness modeling is established to characterize the output displacement, the displacement amplification ratio, and the input stiffness of the mechanism. The right-angle flexure hinges are utilized in the displacement amplification and transmission mechanisms to maintain the input stiffness of the mechanism. The structural design of the microgripper is optimized in such a way that a large output displacement can be achieved. Finite element analysis and experiments are conducted on the microgripper to verify the results of the analytical modeling. The proposed microgripper achieves a large output displacement of 543.8 μm with a displacement amplification ratio of 19.3. The experimental results indicate that the microgripper will be able to accommodate a grasping/releasing task.
This is a preview of subscription content, log in to check access.
Buy single article
Instant access to the full article PDF.
Price includes VAT for USA
Subscribe to journal
Immediate online access to all issues from 2019. Subscription will auto renew annually.
This is the net price. Taxes to be calculated in checkout.
Vidyaa V, Kanthababu M, Thilagar SH, Balasubramanian R (2018) Evaluation of macro sized metal based microgrippers for handling microcomponents. Precis Eng 54:403–411
Zubir MNM, Shirinzadeh B, Tian Y (2009) A new design of piezoelectric driven compliant-based microgripper for micromanipulation. Mech Mach Theory 44(12):2248–2264
Raghavendra MR, Kumar AS, Jagdish BN (2010) Design and analysis of flexure-hinge parameter in microgripper. Int J Adv Manuf Tech 49(9):1185–1193
Zhong Y, Shirinzadeh B, Alici G, Smith J (2006) Soft tissue modelling through autowaves for surgery simulation. Med Biol Eng Comput 44(9):805–821
Gu GY, Zhu LM, Su CY, Fatikow S, Ding H (2015) Proxy-based sliding-mode tracking control of piezoelectric-actuated nanopositioning stages. IEEE/ASME Transactions on Mechatronics 20(4):1956–1965
Qin Y, Shirinzadeh B, Tian Y, Zhang D (2013) Design issues in a decoupled XY stage: Static and dynamics modeling, hysteresis compensation, and tracking control. Sensors and Actuators A: Physical 194:95–105
Zimmermann S, Tiemerding T, Fatikow S (2015) Automated robotic manipulation of individual colloidal particles using vision-based control. IEEE/ASME Transactions on Mechatronics 20(5):2031–2038
Tian Y, Shirinzadeh B, Zhang D (2009) A flexure-based mechanism and control methodology for ultra-precision turning operation. Precis Eng 33(2):160–166
Wang P, Xu Q (2017) Design of a flexure-based constant-force XY precision positioning stage. Mech Mach Theory 108 :1–13
Pinskier J, Shirinzadeh B (2019) Topology optimization of leaf flexures to maximize in-plane to out-of-plane compliance ratio. Precis Eng 55:397–407
Fung RF, Lin WC (2009) System identification of a novel 6-DOF precision positioning table. Sensors and Actuators A: Physical 150(2):286–295
Clark L, Shirinzadeh B, Bhagat U, Smith J, Zhong Y (2015) Development and control of a two DOF linear – angular precision positioning stage. Mechatronics 32:34–43
Boudaoud M, Haddab Y, Le Gorrec Y (2013) Modeling and optimal force control of a nonlinear electrostatic microgripper. IEEE/ASME Transactions on Mechatronics 18(3):1130–1139
López-Walle B, Gauthier M, Chaillet N (2008) Principle of a submerged freeze gripper for microassembly. IEEE Trans Robot 24(4):897–902
Lin CM, Fan CH, Lan CC (2009) A shape memory alloy actuated microgripper with wide handling ranges. In: IEEE/ASME International conference on advanced intelligent mechatronics
Tian Y, Shirinzadeh B, Zhang D, Liu X, Chetwynd D (2009) Design and forward kinematics of the compliant micro-manipulator with lever mechanisms. Precis Eng 33(4):466–475
Qi KQ, Xiang Y, Fang C, Zhang Y, Yu CS (2015) Analysis of the displacement amplification ratio of bridge-type mechanism. Mech Mach Theory 87:45–56
Somà A, Iamoni S, Voicu R, Müller R (2018) Design and experimental testing of an electro - thermal microgripper for cell manipulation. Microsyst Technol 24(2):1053–1060
Liang C, Wang F, Shi B, Huo Z, Zhou K, Tian Y, Zhang D (2018) Design and control of a novel asymmetrical piezoelectric actuated microgripper for micromanipulation. Sensors and Actuators A: Physical 269:227–237
Zubir MNM, Shirinzadeh B (2009) Development of a high precision flexure-based microgripper. Precis Eng 33(4):362– 370
Chen W, Zhang X, Fatikow S (2016) A novel microgripper hybrid driven by a piezoelectric stack actuator and piezoelectric cantilever actuators. Rev Sci Instrum 87(11):1–11
Xing Q, Ge Y (2015) Parametric study of a novel asymmetric micro-gripper mechanism. J Adv Mech Des Syst Manuf 9(5):1–12
Zhang D, Zhang Z, Gao Q, Xu D, Liu S (2015) Development of a monolithic compliant SPCA-driven micro-gripper. Mechatronics 25:37–43
Sun X, Chen W, Tian Y, Fatikow S, Zhou R, Zhang J (2013) A novel flexure-based microgripper with double amplification mechanisms for micro / nano manipulation. Rev Sci Instrum 84(8):1–10
Liang C, Wang F, Tian Y, Zhao X, Zhang H, Cui L, Zhang D, Ferreira P (2015) A novel monolithic piezoelectric actuated flexure-mechanism based wire clamp for microelectronic device packaging. Rev Sci Instrum 86(4):1–10
Shi Q, Yu Z, Wang H, Sun T, Huang Q, Fukuda T (2018) Development of a highly compact microgripper capable of online calibration for multisized microobject manipulation. IEEE Trans Nanotechnol 17 (4):657–661
Wang F, Liang C, Tian Y, Zhao X, Zhang D (2016) Design and control of a compliant microgripper with a large amplification ratio for high-speed micro manipulation. IEEE/ASME Transactions on Mechatronics 21 (3):1262–1271
Chen W, Zhang X, Li H, Wei J, Fatikow S (2017) Nonlinear analysis and optimal design of a novel piezoelectric-driven compliant microgripper. Mech Mach Theory 118:32–52
Choi KB, Lee JJ, Kim GH, Lim HJ, Kwon SG (2018) Amplification ratio analysis of a bridge-type mechanical amplification mechanism based on a fully compliant model. Mech Mach Theory 121:355–372
Zubir MNM, Shirinzadeh B, Tian Y (2009) Development of novel hybrid flexure-based microgrippers for precision micro-object manipulation. Rev Sci Instrum 80(6):1–14
Wang F, Liang C, Tian Y, Zhao X, Zhang D (2015) Design of a piezoelectric-actuated microgripper with a three-stage flexure-based amplification. IEEE/ASME Transactions on Mechatronics 20(5):2205–2213
Yang YL, Lou JQ, Wu GH, Wei YD, Fu L (2018) Design and position / force control of an S-shaped MFC microgripper. Sensors and Actuators A: Physical 282:63–78
Qin Y, Shirinzadeh B, Zhang D, Tian Y (2013) Compliance modeling and analysis of statically indeterminate symmetric flexure structures. Precis Eng 37(2):415–424
Koseki Y, Tanikawa T, Koyachi N, Arai T (2000) Kinematic analysis of translational 3-DOF micro parallel mechanism using matrix method. IEEE/RSJ International Conference on Intelligent Robots and Systems 1:786–792
Li Y, Xu Q (2009) Design and analysis of a totally decoupled flexure-based XY parallel micromanipulator. IEEE Trans Robot 25(03):645–657
Smith ST (2000) Flexure-elements of elastic mechanisms. CRC Press, Boca Raton
Zubir MNM, Shirinzadeh B, Tian Y (2009) Development of a novel flexure-based microgripper for high precision micro-object manipulation. Sensors and Actuators A: Physical 150(2):257– 266
Bhagat U, Shirinzadeh B, Clark L, Qin Y, Tian Y, Zhang D (2014) Experimental investigation of robust motion tracking control for a 2-DOF flexure-based mechanism. IEEE/ASME Transactions on Mechatronics 19(6):1737–1745
Qin Y, Shirinzadeh B, Tian Y, Zhang D, Bhagat U (2014) Design and computational optimization of a decoupled 2-DOF monolithic mechanism. IEEE/ASME Transactions on Mechatronics 19(3):872–881
Tang H, Li Y (2015) A new flexure-based Y𝜃 nanomanipulator with nanometer-scale resolution and millimeter-scale workspace. IEEE/ASME Transactions on Mechatronics 20 (3):1320– 1330
Feng F, Cui Y, Xue F, Wu L (2012) Design of a new piezo-electric micro-gripper based on flexible magnifying mechanism. Applied Mechanics and Materials 201-202:907–911
Yang YL, Wei YD, Lou JQ, Tian G, Zhao XW, Fu L (2015) A new piezo-driven microgripper based on the double-rocker mechanism. Smart Mater Struct 24(7):1–11
This research is supported by the Australian Research Council (ARC) Discovery Projects, and ARC LIFE Projects.
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
About this article
Cite this article
Das, T.K., Shirinzadeh, B., Ghafarian, M. et al. Characterization of a compact piezoelectric actuated microgripper based on double-stair bridge-type mechanism. J Micro-Bio Robot 16, 79–92 (2020). https://doi.org/10.1007/s12213-020-00132-5
- C ompliant mechanism
- Piezoelectric actuator
- Right-angle flexure