Scholarlink

This chapter introduces a new microgripper designed with a flexible hinge structure to achieve a large gripping range and nearly straight-line motion. It uses a two-stage amplification system–a modified Scott-Russell mechanismModified Scott-Russell mechanism and a parallel mechanism–to significantly increase the motion range of the piezoelectric actuator. The modified Scott-Russell design alone provides 3.56 times more amplification than conventional versions. The gripper offers a gripping range of over 720 \(\upmu \) m, a resonant frequency of 70.7 Hz, and minimal sideways motion. With an overall amplification ratio of 16.13, the design was validated through simulations and physical tests using an aluminum prototype. This microgripper is suitable for precision tasks such as handling optical fibers in microassembly applications.

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Design and Testing of a Large-Range Compliant Microgripper

  • 章节

  • 发表日期：

    2026年

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  • Qingsong Xu

摘要

This chapter introduces a new microgripper designed with a flexible hinge structure to achieve a large gripping range and nearly straight-line motion. It uses a two-stage amplification system–a modified Scott-Russell mechanismModified Scott-Russell mechanism and a parallel mechanism–to significantly increase the motion range of the piezoelectric actuator. The modified Scott-Russell design alone provides 3.56 times more amplification than conventional versions. The gripper offers a gripping range of over 720 \(\upmu \) m, a resonant frequency of 70.7 Hz, and minimal sideways motion. With an overall amplification ratio of 16.13, the design was validated through simulations and physical tests using an aluminum prototype. This microgripper is suitable for precision tasks such as handling optical fibers in microassembly applications.