关键词: 柔性微夹持器, 寄生位移, 单位寄生旋转, 平行夹持

Abstract: Aiming at the problems that piezo-driven flexible microgrippers were easy to rotate and slip during clamping, which were hard to keep stable clamping, a flexible microgripper was designed using continuum structure topology optimization method. The solid isotropic material penalty(SIMP) model topology description method was used herein, and the ratio of maximum output displacement to input displacement, minimum rotation angle, minimum parasitic displacement, and end stiffness were used as optimization objectives. The topology optimization problem was divided into two stages by hierarchical sequence method. The topology optimization design model of the flexible parallel microgrippers was developed and solved by the optimisation criterion(OC) method to obtain a flexible parallel microgripper with low parasitic displacements. The effectiveness of the algorithm was verified by simulation comparisons of the microgrippers without suppressing rotation angle and parasitic displacement. The designed microgrippers were machined and measured. The unit parasitic rotation and relative parasitic displacement is as 0.001 384 27 mrad/μm and 0.7%, respectively, The designed microgrippers have a low parasitic displacement and rotation angle, the microgrippers may realize parallel gripping, which verifies the validity of the design.

Key words: flexible microgripper, parasitic displacement, unit parasitic rotation, parallel gripping