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A flexure-based gripper for small-scale manipulation

Published online by Cambridge University Press:  01 March 1999

Michael Goldfarb  and
Nikola Celanovic
Michael Goldfarb
Affiliation:
Department of Mechanical Engineering, Vanderbilt University, Box 1592, Station B, Nashville TN 37235 (USA)
Nikola Celanovic
Affiliation:
Department of Mechanical Engineering, Vanderbilt University, Box 1592, Station B, Nashville TN 37235 (USA)
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Abstract

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A small-scale flexure-based gripper was designed for manipulation tasks requiring precision position and force control. The gripper is actuated by a piezoelectric ceramic stack actuator and utilizes strain gages to measure both the gripping force and displacement. The position and force bandwidths were designed for ten Hertz and one hundred Hertz, respectively, in order to afford human-based teleoperative transparency. The gripper serves effectively as a one degree-of-freedom investigation of compliant mechanism design for position and force controlled micromanipulation. Data is presented that characterizes the microgripper performance under both pure position and pure force control, followed by a discussion of the attributes and limitations of flexure-based design.

Keywords

MicrogripperMicromanipulationFlexure-based designControl
Type
Research Article
Information
Robotica , Volume 17 , Issue 2 , March 1999 , pp. 181 - 187
Copyright
© 1998 Cambridge University Press