Design and application of compliant mini-grippers for handling chemicals

• Autorzy: Lateș D. , Noveanu S. , Vencel C.

Identyfikatory

DOI

10.1515/meceng-2015-0012

Warianty tytułu

PL

Projektowanie i zastosowanie podatnych minichwytaków do przenoszenia chemikaliów

• Języki publikacji: EN

Abstrakty

EN

In this paper we propose an original configuration of a compliant mini-gripper for handling chemicals. The compliant mini-gripper is 3D modeled and analyzed with finite element method. To use it in a wider range of containers designed for laboratories we made several variants of fasteners. In order to obtain a functional prototype in a scale appropriate to characterize the system, we determined the material properties of the gripper and developed an experimental stand for characterizing the system with mini-gripper. Finally, we compared the movements of the experimental grip, made according to the movement of the bellows type actuator, determined based on, analytical and numerical results.

PL

W artykule zaproponowano oryginalną konfigurację podatnego minichwytaka do przenoszenia próbek chemikaliów. Opracowano trójwymiarowy model chwytaka i zanalizowano go metodą elementów skończonych. Wykonano kilka wariantów uchwytów dostosowanych do różnych rodzajów pojemników używanych w laboratorium. By otrzymać model funkcjonalny w odpowiedniej skali do charakteryzacji systemu wyznaczono właściwości materiałów chwytaka i zbudowano stanowisko doświadczalne do badań systemu z chwytakiem. Na koniec porównano ruchy eksperymentalnego uchwytu, sterowane ruchem siłownika typu mieszkowego, które wyznaczono na podstawie wyników badań eksperymentalnych i numerycznych.

Słowa kluczowe

EN

compliant mechanism; bellows actuator; compliant mini gripper; finite element analysis

PL

mechanizm podatny; siłownik typu mieszkowego; podatny minichwytak; analiza elementów skończonych

• Wydawca: Komitet Budowy Maszyn PAN
• Czasopismo: Archive of Mechanical Engineering
• Rocznik: 2015
• Tom: Vol. LXII, nr 2
• Strony: 205--216
• Opis fizyczny: Bibliogr. 22 poz., fot., rys., tab.

Twórcy

autor

Lateș D.

• Tehnical University of Cluj-Napoca, Cluj-Napoca, Romania, EU

autor

Noveanu S.

• Tehnical University of Cluj-Napoca, Cluj-Napoca, Romania, EU

autor

Vencel C.

• Tehnical University of Cluj-Napoca, Cluj-Napoca, Romania, EU

Bibliografia

• [1] Bharanidaran R., Ramesh T.: Numerical simulation and experimental investigation of a topologically optimized compliant microgripper, Journal Elsevier: Sensor and Actuators, 2013.
• [2] Grosard M., Rotinat-Libersa C., Chaillet N.: Redesign of the MMOC micro gripper piezoactuator using a new topological optimization method, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM’2007, ETH Zürich: Switzerland, 2007.
• [3] Jișa V.S., Mândru D.: Synthesis and Analysis of the Bellows Actuators, 14th Symposium on Experimental Stress Analysis and Materials Testing, Book of abstracts, A3, Timișoara, 2013.
• [4] Keoschkerjan R., Wurmus H.: A novel micro gripper with parallel movement of gripping arms, Proceedings of ACTUATOR 2002, The 8th International Conference on New Actuators, Bremen, pp. 321-325, 2002.
• [5] Kohl M., Krevet B., Just E.: SMA micro gripper system, Sensors and Actuators, A, 97-98, pp. 646-652, 2002.
• [6] Lates D., Noveanu S., Zah M.: Analytical study on compliant joints with asymmetrical profiles, 21th International Conference on Mechanical Engineering (OGET), Arad, ISSN 2068-1267, 2013.
• [7] Lates D., Noveanu S., Csibi V.: Micropositioning system with flexure hinges for microfactories, 7th International Congress of Precision Machining (ICPM), ISBN 978-3-03785-840-0, Miskolc, Hungary, 2013.
• [8] Lobonțiu N.: Compliant mechanisms: design of flexure hinges, CRC Press LLC: New York, 2002.
• [9] Lobontiu N., Ephrahim G.: Mechanics of Microelectromechanical Systems, Kluwer Academic Publishers New York, Boston, Dordrecht, London, Moscow, 2005.
• [10] Mândru D., Noveanu S., Tǎta, O.: Research Concerning the Development of Shape Memory Actuated Microgrippers, Proceed of the 6th International Conference Research and Development in Mechanical Industry, RaDMI 2006, paper D-22.
• [11] Moaveni S.: Finite Element Analysis. Theory and Application with ANSYS, Pearson Education Inc, New Jersey, 2003.
• [12] Noveanu S.: Contribuții privind studiu lmecanismelor compliante specifice sistemelor mecatronice, Teza de doctorat, 2009.
• [13] Jain R.K., Majumder S., Dutta A.: SCARA based peg-in-hole assembly using compliant IPMC micro gripper, Journal Elsevier: Robotics and Autonomous Systems, 2012.
• [14] Vistrian M., Dan M., Olimpiu T., Mihai M., Vencel C.: Actuatori in Mecatronica, Editura Mediamira, Cluj-Napoca, 2000.
• [15] Jisa V.S., Lates D.: Gripping Compliant Systems Operated With Bellows Actuators Used In Biomedical Engineering, Acta Universitatis Sapientiae Electrical and Mechanical Engineering, in process of publication, 2014.
• [16] http://en.wikipedia.org/wiki/Laboratory glassware
• [17] http://en.wikipedia.org/wiki/Beaker %28glassware%29
• [18] http://www.ansys.com
• [19] http://instron-romania.com/
• [20] http://www.technorouters.com/files/cpm.pdf
• [21] http://www.e-engraving.com/machines/isel/isel CPM 2018.htm
• [22] http://en.wikipedia.org/wiki/Laboratory glassware

Uwagi

EN

This paper is supported by the Sectoral Operational Programme Human Resources Development POSDRU/159/1.5/S/137516 financed from the European Social Fund and by the Romanian Government