New structure design of a flexure-based compliant microgripper

The design and evaluation of a new compliant microgripper is reported in this paper on the basis of a dissymmetric mechanism. This structure has two parallelogram mechanisms which enable the generation of purely translational motion of the gripper tips. It is desirable for micromanipulation and microassembly tasks. Unlike the traditional pure-translation grippers, the presented one has a simple architecture and compact size because the in-plane area is used fully. Benefiting from an amplification ratio of the structure and, the microgripper achieves a large displacement. The kinematic and dynamic models of the gripper structure are developed and finite element analysis (FEA) simulations are performed to validate the mechanism design. The results exhibit the effectiveness of the reported gripper design.