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Undergraduate Research Project Management System

Constant-Force Compliant Cripper mechanism

Status Current
Seeking Researchers No
Start Date 09/01/2008
End Date 06/30/2008
Funding Source Parasca Science Research Award
Funding Amount
Community Partner
Related Course
Last Updated 07/05/2008 01:25AM
Keywords Cripper Mechanism

People

Faculty
  Nicolae Lobontiu

Student Researchers
  Raphael Wunderle

Abstract

The project proposes to model, design and experimentally test several constant-force compliant mechanism grippers that can be used for percision robotic manipulation. Compliant mechanisms use flexure hinges (which are slender, flexible portions that can bend and enable relative rotation between rigid links) instead of classsical translation and rotation joints. These devices are very modern and significant research efforts are currently dedicated to flexure-based compliant mechanisms, particularly with applications to micro/nano electromechanical systems (MEMS/NEMS) and precision positioning devices. The goal of this project is to design compliant grippers by amplifying an input motion from a linear actuator and to create a constant ourput force, which would enable grasping of objects having various dimensions through application of the same gripping force. Both amplification and constant force output will be created through design by selecting the proper geometric configuration. A constant force output for different displacements will be achieved by the change of the length and therefore the stiffness of the gripper arms. Various gripper designs will be studied and modeled with Solid Works or AUTO Cad and then analyzed with the finite element analysis software ANSYS. After finding the optimal geometry for an adequate amplification and, more importantly, for a constant force output, a planar compliant gripper will be fabricated. Furthermore, a force sensor will be modeled, designed and fabricated to perform force tests with the gripper prototype. This sensor will also be based on compliant mechanism. Both the gripper and the force sensor designs will be sent at drawing files to the company which will fabricate these mechanisms by electric discharge machining (EDM). The fabricated gripper will then be tested in the School of Engineering's labs at UAA by using the compliant force sensor as well as other sensors which are already available in the Engineering labs or the sensors which will be aquired through this project.

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