摘要
以实现对微小零件的装配为目标,通过对运用单轴柔性铰链位移放大机构的柔性微抓取器进行理论和有限元分析,指出柔性铰链的缺陷.在改进设计中提出并利用柔性梁替代柔性铰链作为抓取器的运动副.通过理论、有限元对改进后的柔性微抓取器进行分析,并通过实验证明了该抓取器的可行性.
For the assembly of micro-parts, this paper analyzed a flexure micro-gripper through calculation and finite element method in which a displacement amplifier with flexure hinges in single axis is used, and pointed out the flaw of flexure hinges, In the improvement, instead of flexure hinges, flexure beams are adopted as the kinematical pairs of the gripper. Through the calculation, finite element method and experiment, the improved compliant micro gripper was analyzed, and proved to be practicable.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2007年第9期1470-1474,共5页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金(60643002
50390060
60205006)
国家高技术研究发展计划(863)项目(2006AA04Z240)资助项目
关键词
柔性微抓取器
柔性铰链
柔性梁
有限元方法
compliant micro-gripper
flexure hinge
flexure beam
finite element method
