Numerical simulation and experimental investigation of a topologically optimized compliant microgripper

In this research work, the compliant based microgripper is developed and the performance of the microgripper is studied through numerical simulation and experiential techniques. Conceptual design of microgripper is developed through topology optimization which is logical, authenticate and effortless among other mechanism design methods such as Mechanism synthesis, Pseudo Rigid Body Model (PRBM) and inverse method. In conceptual design of microgripper, node to node connections were developed and show the hinge locations of the mechanism. These locations were replaced by introducing suitable flexure hinges. The effect of flexure hinges at the node-to-node contact regions need to be analyzed for its critical geometric parameter. The important critical geometric parameter of flexure hinges are varied and analyzed through Finite Element Method (FEM) and experimental studies. In experimental technique, Shape Memory Alloy (SMA) wire is employed to actuate the microgripper. Equivalent rigid body model of the mechanism using Graphical Position Analysis (GPA) to the compliant mechanism is developed for comparing the output displacement.