초정밀 매뉴플레이션을 위한 Flexure hinge 밀리 그리퍼(milli gripper)설계 및 제안에 관한 연구

Abstract

This paper is a research on the design and fabrication of the flexure hinge gripper for task oriented gripping of milli scaled object. We designed a gripper with flexure hinges which has no backlash, no slip-stick-effects and no friction for ultraprecision manipulation, and especially flexure hinge joints can remove manipulation errors induced from manufacturing and assembling. We suggest a kinematic model of RRR-Dyad mechanism, which is generally used in robot manipulator link mechanism and the gripper was made of aluminum for easy fabrication and manufactured by electric wire cutting. We obtained optimal values for the most important several design parameters in many design, such as flexure hinge width, length and radius etc. by applying Taguchi method. The developed gripper could grip circular objects of 1mm radius effectively.