Chen Weihai, Shi Xiaohui, Chen Wenjie, Zhang Jianbin
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
Rev Sci Instrum. 2013 Nov;84(11):115111. doi: 10.1063/1.4832045.
In this paper, a two degree of freedom flexure-based micro-gripper is proposed and applied in the complicated assembling process of optical fibers. The design concept is modeled on the manipulation of human fingers. Therefore, the two tips of micro-gripper, just like human fingers, can easily grasp the optical fiber with a controllable force and precisely rotate it by the rubbing operation. In addition, some sensors installed on the micro-gripper can enhance the operating accuracy. In the developing process, pseudo-rigid-body model method and virtual work principle are employed to conduct theoretical design. Then the obtained theoretical model is validated and optimized by the finite element analysis. Fabrication of the micro-gripper adopts wire electro discharge machining technology and material of aluminum alloy (AL-7075). Experimental studies are carried out on the prototype to further validate the performance of micro-gripper. Experimental results indicate that the developed micro-gripper can well satisfy the requirements of our mission, which also means that it can be widely used in micro-manipulation field.
本文提出了一种基于柔性铰链的两自由度微夹钳，并将其应用于复杂的光纤装配过程中。该设计理念模仿了人类手指的操作方式。因此，微夹钳的两个尖端就像人类手指一样，能够以可控的力轻松抓取光纤，并通过摩擦操作精确地旋转它。此外，安装在微夹钳上的一些传感器可以提高操作精度。在开发过程中，采用伪刚体模型法和虚功原理进行理论设计。然后通过有限元分析对得到的理论模型进行验证和优化。微夹钳的制造采用线切割加工技术和铝合金（AL-7075）材料。对该原型进行了实验研究，以进一步验证微夹钳的性能。实验结果表明，所研制的微夹钳能够很好地满足任务要求，这也意味着它可以在微操作领域得到广泛应用。
