基于柔性四杆机构的大行程微夹持器的设计与实现

Design and Implementation of a Large-Stroke Microgripper Based on a Flexible Four-Bar Mechanism

摘要: 针对微夹持器在实际应用中对较大夹持范围的需求，提出了一种基于柔性铰链四杆机构的微夹持器结构。首先，对微夹持器进行结构设计和理论分析，通过运动学分析，得到柔性四杆机构能够实现超大放大倍数的理论公式，为微夹持器的设计提供了理论依据。然后利用ANSYS仿真软件对微夹持器的放大倍数进行了仿真分析与验证，通过对比仿真结果与理论公式计算值，进一步验证了理论分析的正确性。最后，通过搭建实验平台，对微夹持器进行实验验证，结果表明，夹持器的位移放大倍数可以达到32.24倍，并且具备0~644.8 μm的夹持范围。该微夹持器有效解决微夹持器行程小的问题，具有一定的应用前景和可行性。

Abstract: To address the need for a larger gripping range in practical applications of microgrippers, a microgripper structure based on a flexible hinge four-bar mechanism has been proposed. Initially, structural design and theoretical analysis of the microgripper were conducted. Through kinematic analysis, theoretical formulas were obtained that demonstrate the four-bar mechanism’s ability to achieve an ultra-large magnification ratio, providing a theoretical foundation for the design of the microgripper. Subsequently, ANSYS simulation software was used to simulate and verify the magnification ratio of the microgripper. By comparing the simulation results with the calculated values from the theoretical formulas, the correctness of the theoretical analysis was further validated. Finally, an experimental platform was set up to experimentally verify the microgripper. The results indicated that the displacement magnification ratio of the gripper could reach 32.24 times, with a gripping range of 0 to 644.8 μm. This microgripper effectively solves the problem of limited travel in microgrippers and has potential application prospects and feasibility.