Optimal design and comparative analysis of a novel microgripper based on matrix method

In this paper, a kind of novel microgripper is designed and analyzed, which has two degrees of freedom in the x and y directions. The clamping action of the microgripper in the x direction is completed, however, when anything is clamped by the end-effector, it can be completely driven by an actuator generated in y direction. The kinematics and dynamics models of the gripper are established, which are based on matrix method and Lagrange method respectively, then the structure optimization for the mechanism can be conducted by using the Boltzmann machine algorithm based on simulated annealing, which can obtain the global optimum of the output displacement. Finally, the optimized architecture is validated by adopting finite element analysis(FEA), and the errors of FEA and matrix method are less than 8.5%.