Optimal Material Distribution of a Micro-Gripper Manipulator with Straight-Line Path and Parallel Movements

Mahmoud Helal; Lining Sun; Liguo Chen

doi:10.3139/120.110095

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Optimal Material Distribution of a Micro-Gripper Manipulator with Straight-Line Path and Parallel Movements

Mahmoud Helal , Lining Sun und Liguo Chen

Veröffentlicht/Copyright: 28. Mai 2013

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Abstract

Micro electro-mechanical systems (MEMS) are miniaturized devices that consist of both mechanical and electrical parts. Compliant mechanisms have made an enormous contribution in the design process of various fields such as adaptive structures, hand-held tools, components in transportations, electronics and medical tools. The use of compliant mechanisms will help in reducing the number of components, as a result decreasing manufacturing cost and increasing the performance. The topology optimization methods search for an ideal material distribution of a structure. In this investigation, a new two-dimensional micro-grippers compliant mechanism, which can realize a straight-line path and parallel movement arms, are developed. Material models, which parameterize stiffness and density properties, are implemented based on the well-known solid isotropic materials with penalization model. Optimality criteria method is applied as the optimization algorithm using the ANSYS package. The micro-grippers with compliant mechanism can be applied to targets with a diameter of up to 400 μm.

Kurzfassung

Mikroelektromechanische Systeme (MEMS) sind miniaturisierte Einrichtungen, die sowohl aus Mechanismen als auch aus elektrischen Teilen bestehen. Compliant-Mechanismen haben einen großen Beitrag im Gestaltungsprozess verschiedener Felder, wie zum Beispiel bei adaptiven Strukturen, Handwerkzeugen, Transportkomponenten, elektronischen und medizinischen Werkzeugen. Die Verwendung von Compliant-Mechanismen wird insgesamt dazu führen, die Zahl der Komponenten zu reduzieren, und somit die Herstellungskosten zu senken und die Performanz von Bauteilen zu erhöhen. Die Verfahren zur Topologie-Optimierung verfolgen das Ziel einer idealen Materialverteilung in einer Struktur. In der zugrunde liegenden Untersuchung wurde ein neuer zweidimensionaler Compliant-Mechanismus für einen Mikrogreifer entwickelt, der einen Arm für einen Geradeaus-Pfad und für Parallel-Bewegungen realisieren kann. Die Materialmodelle, die sowohl Steifigkeitsals auch Dichteeigenschaften parametrisieren können, wurden basierend auf den bekannten isotropen festen Materialien mit Penalization-Modell implementiert. Unter Verwendung des Programmes ANSYS wurde das Optimierungskriterienverfahren als Optmierungsalgorithmus eingesetzt. Die Mikrogreifer mit dem Compliant-Mechanismus können auf Ziele mit einem Durchmesser von bis zu 400μm angewendet werden.

Assistant Lecturer Mahmoud M. K. Helal, born in 1978, studied Mechanical Engineering at the Production Engineering and Mechanical Design Department at Mansoura University from 1995 to 2000. In 2005, he achieved his Master degree. He works as an assistant lecture in the Production Engineering and Mechanical Design Department at Mansoura University.

Professor Lining Sun graduated with the Bachelor and Master degree in Mechanical Engineering at the Harbin Institute of Technology in 1985 and 1988, and completed the Ph.D. degree in Mechatronics Engineering in 1993. His research interests have encompassed a number of related areas, including robot control, design of actuators, design and control of high speed machines, MEMS 3D assembly, MEMS robotic task execution, micromanipulation robot, etc. He has published extensively in journals and conferences and has supervised over 50 MSc and Ph.D. students as well as a number of Post-Doctoral Fellows and Research Engineers in these various research areas.

Associate Professor Liguo Chen received his Bachelor and Master Degrees in Mechanical Engineering at the Harbin Institute of Science and Technology in 1997 and 2000. He received his Ph.D. degree in Mechatronics from the Harbin Institute of Technology in 2003. Since 2003, he has been with the Robotics Institute at the Harbin Institute of Technology, and is now an Associate Professor. Dr. Chen's research interests lie in robotics and automation, computer vision, MEMS 3D assembly, and micromanipulation robot.

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Published Online: 2013-05-28

Published in Print: 2009-11-01

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https://doi.org/10.3139/120.110095