A Novel Compliant Mechanism for Converting Reciprocating Translation Into Enclosing Curved Paths

This paper introduces a novel contact-aided compliant mechanism that uses intermittent contacts to convert a single translatory reciprocating input into two output curves, which intersect to enclose a two dimensional region. Contact interactions endow contact-aided compliant mechanisms with enhanced kinematic and kinetostatic capabilities. The mechanism described in this paper is designed to undergo large deformations repeatedly, without yielding by avoiding flexural joints and by using contacts to obtain the desired deformation. A single-material, joint-free and planar design makes the mechanism easy and economical to fabricate at the macro or micro scales. The design is validated experimentally by manufacturing and testing macro scale prototypes. Two potential applications that motivated this mechanism are also noted.

Workspace analysis and performance of a binary actuated parallel manipulator with flexural joints

In this paper the design of a miniaturized parallel architecture is investigated in terms of basic performances concerning mobility and workspace characteristics. The miniature requirements have been achieved with a milli-scaled parallel manipulator requiring flexural joints and binary actuation with shape memory alloy wires or small pneumatic pistons. The mechanical design is analysed by considering the mobility of the flexural joints in order to size them and model the kinematics of the joints. The reachability is analysed through a suitable formulation of the direct kinematics by also taking into account binary actuation. Workspace performance has been determined in terms of position and orientation capabilities.

Design and Experimental Validation of a Microgripper

In this paper we present the mechanical design of a microgripper performing microassembly tasks with objects whose dimensions are less than 1mm with a maximum grasping action of 0.9N and fingers displacement of 0.6mm. The efficiency of the microgripper has been experimentally tested by using a proper test-bed and laboratory experiences. The results are illustrated and discussed to validate the microgripper that has been built using flexural joints structure.