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Simulation on Superelastic Alloy Microgripper with Embedded UM Actuators
Wang S(王帅); Su G(苏刚)
作者部门机器人学研究室
会议名称3rd International Conference on Modeling, Simulation and Optimization
会议日期December 25-26, 2010
会议地点Beijing, CHINA
会议主办者Soc Beijing Agr Engn, China Agr Univ, Coll Water Conservancy & Civil Engn, CIGR, Sect One Land & Water Engn
会议录名称THIRD INTERNATIONAL CONFERENCE ON MODELING, SIMULATION AND OPTIMIZATION (CMSO 2010)
出版者LONDON SCIENCE PUBLISHING LTD
出版地LONDON
2010
页码89-92
收录类别CPCI(ISTP)
WOS记录号WOS:000392561000022
产权排序1
ISBN号978-1-907801-09-9
关键词Ultrasonic Motor Microgripper Finite Element
摘要This paper presents a superelastic alloy (NiTi) microgripper with embedded ultrasonic motor (UM) actuators for expanding the workspace of a microrobot and manipulating it safely in lower voltage. The microgripper, equipped with flexible hinges fabricated by electro-discharge machining, features large displacements to accommodate objects of various sizes. In the paper it describes the structure and working principal of the microgripper, and a satisfactory match between the experimental results and theoretical calculations of the multiplying factor of the microgripper with flexible hinges was obtained. Furthermore, the paper theoretically establishes the relationship between loading and output displacement, and also analyzes the fatigue of the microgripper by the finite element method. At last, the results from the experimental and theoretical studies establish the feasibility of the microgripper.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20063
专题机器人学研究室
通讯作者Wang S(王帅)
作者单位1.Graduate University of Chinese Academy of Sciences
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Wang S,Su G. Simulation on Superelastic Alloy Microgripper with Embedded UM Actuators[C]//Soc Beijing Agr Engn, China Agr Univ, Coll Water Conservancy & Civil Engn, CIGR, Sect One Land & Water Engn. LONDON:LONDON SCIENCE PUBLISHING LTD,2010:89-92.
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