Design and development of a novel micro-clasp gripper for micromanipulation of complex-shaped objects

Krishnan, Sandeep; Saggere, Laxman

doi:10.1016/j.sna.2011.09.030

Cited by 12 publications

(9 citation statements)

References 16 publications

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“…The circular and rectangular hinge modelsareanalyzed by using following equation (Eqn.3) to obtain displacement at the tip of the gripping arms [13]. …”

Section: Page Mes College Of Engineering Pune 411001mentioning

confidence: 99%

“…and different shapes of tips were also reviewed. Krishnan and Saggere [13] developed micro gripper for manipulation of irregular shape small sized objects for any direction orientation and proposed obtained a maximum geometrical advantage of 11.56 by rotational flexures concept. It canable to handle the objects within the range of 100 microns.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Displacement Analysis of Rectangular and Circular Hinge for Compliant Micro–Gripper

Joshi¹

2016

IOSR

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“…The circular and rectangular hinge modelsareanalyzed by using following equation (Eqn.3) to obtain displacement at the tip of the gripping arms [13]. …”

Section: Page Mes College Of Engineering Pune 411001mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Displacement Analysis of Rectangular and Circular Hinge for Compliant Micro–Gripper

Joshi¹

2016

IOSR

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“…In the macroscopic world, two-finger manipulators are widely used on robots to hold loads, while some two-finger micro-grippers are also invented for micromanipulation and micro-assembly to broaden human operational capability in the microscopic world [2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

“…While limited by manufacturing process, actuation method and volume limitation, the microgripper needs simple structure and special actuators to be easily fabricated and actuated. Up to now, electrostatic effect [3,6,7], electromagnetic effect [8], electro-thermal effect [9][10][11], pneumatic scheme [12], magnetic field [4,13], piezoelectric materials [14][15][16][17], shape memory alloy (SMA) [18,19], ionic polymer metal composites (IPMC) [5,[20][21][22], carbon nanotube/polymer composites [23] are all studied to actuate micro-grippers. As the scale of actuators in the microgripper does not always directly match the scale of the microgripper finger, most electrostatic, electro-thermal and piezoelectric solutions need complex and appropriate mechanical structure to convert electric energy to the movement of the micro-gripper.…”

Section: Introductionmentioning

confidence: 99%

A remotely driven and controlled micro-gripper fabricated from light-induced deformation smart material

Huang

Tian

et al. 2016

Smart Mater. Struct.

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Micro-gripper is an important tool to manipulate and assemble micro-scale objects. Generally, as micro-gripper is too small to be directly driven by general motors, it always needs special driving devices and suitable structure design. In this paper, two-finger micro-grippers are designed and fabricated, which utilize light-induced deformation smart material to make one of the two fingers. As the smart material is directly driven and controlled by remote lights instead of lines and motors, this light-driven mode simplifies the design of the two-finger micro-gripper and avoids special drivers and complex mechanical structure. In addition, a micro-manipulation experiment system is set up which is based on the light-driven micro-gripper. Experimental results show that this remotely light-driven micro-gripper has ability to manipulate and assemble micro-scale objects both in air and water. Furthermore, two micro-grippers can also work together for cooperation which can further enhance the assembly ability. On the other hand, this kind of remotely controllable micro-gripper that does not require on-board energy storage, can be used in mobile micro-robot as a manipulation hand.

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“…Ahn et al [9] presented a micro parallel positioning platform with two translational motions and a rotational motion and employed it for simulation of cutter path in laser-micromachining. Krishnan and Saggere [10] proposed a compliant parallel redundant linkage for micromanipulation tasks.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of X-Y-T Positioning Stage Based on Redundant Parallel Linkage

.¹

2013

IJRET

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This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the base joint variables. Also it is assumed that the motion is at a constant speed. A numerical example is shown with a straight line trajectory to illustrate the workspace and joint force calculation aspects of this linkage. The possible arrangement of the stage with electrostatic actuation and sensing are finally highlighted.

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Design and development of a novel micro-clasp gripper for micromanipulation of complex-shaped objects

Cited by 12 publications

References 16 publications

Displacement Analysis of Rectangular and Circular Hinge for Compliant Micro–Gripper

Displacement Analysis of Rectangular and Circular Hinge for Compliant Micro–Gripper

A remotely driven and controlled micro-gripper fabricated from light-induced deformation smart material

Design and Analysis of X-Y-T Positioning Stage Based on Redundant Parallel Linkage

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