Research on Cross-scale Micro-gripper Based on Multi-stable Flexible Mechanism

Abstract

In order to solve the problems of low precision, small stroke, and inabilityto grip objects across scales (um-mm) in traditional micro-gripper, a multi-stable flexible mechanism-based cross-scale micro-gripper structure was proposed. The multi-stable structure is combined with the traditional amplifying mechanism. The leftside of the micro -gripper adopts a lever mechanism and a parallelogram mechanism, and the right side adopts three different bistables in series to achieve eight-stable state. Finally, the parallelogram mechanism ensures the end of the micro-gripper. The output is pure parallel movement. Firstly, the overall structure design of the micro-gripper is introduced; secondly, the displacement amplification ratio and multi -stable characteristics of the amplification mechanism are deduced through theoretical calculation; finally, the performance and reliability of the micro-gripper are verified by the simulation analysis of the model by finite element. The micro-gripper has high magnification, large grippering range, compact structure, and can realize parallel grippering across μm-mm.