ArticleMicromachines2022
Direct Kinetostatic Analysis of a Gripper with Curved Flexures.
Article in Micromachines, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- A Numerical and Experimental Investigation of the Most Fundamental Time-Domain Input-Output System Identification Methods for the Normal Modal Analysis of Flexible Structures.Sensors (Basel, Switzerland) · 2025Article
- Structural Parameter Optimization of a Tomato Robotic Harvesting Arm: Considering Collision-Free Operation Requirements.Plants (Basel, Switzerland) · 2024Article
- On the Dependency of the Electromechanical Response of Rotary MEMS/NEMS on Their Embedded Flexure Hinges' Geometry.Micromachines · 2023Article
- Editorial for the Special Issue on Flexible Micromanipulators and Micromanipulation.Micromachines · 2023Article
Corrections and comments
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Authors and funding
4 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Micro-electro-mechanical-systems (MEMS) extensively employed planar mechanisms with elastic curved beams. However, using a curved circular beam as a flexure hinge, in most cases, needs a more sophisticated kinetostatic model than the conventional planar flexures. An elastic curved beam generally allows its outer sections to experience full plane mobility with three degrees of freedom, making complex non-linear models necessary to predict their behavior. This paper describes the direct kinetostatic analysis of a planar gripper with an elastic curved beam is described and then solved by calculating the tangent stiffness matrix in closed form. Two simplified models and different contributions to derive their tangent stiffness matrices are considered. Then, the Newton-Raphson iterative method solves the non-linear direct kinetostatic problem. The technique, which appears particularly useful for real-time applications, is finally applied to a case study consisting of a four-bar linkage gripper with elastic curved beam joints that can be used in real-time grasping operations at the microscale.
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Registered trials
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