DESIGN OF A SINGLE-INPUT MORPHING COMPLIANT MECHANISM WITH SEPARATE GRIPPING AND RETRACTION MODES

A key aspect of robotics and automation is continuous repetition of predefined travel and actions. One such example is a robotic gripper, gripping an object and displacing it linearly. Compliant mechanisms are designed to replicate the motion of rigid mechanisms through the use of flexible beam elements that take advantage of the elastic deformation properties of a material. Arrangements of compliant beams can be used to successfully transmit or transform purposeful motion and force. In this paper a compliant gripper is proposed that grips an object (X displacement) and retracts it linearly (Y displacement) based on a single actuation. The design is comprehensively analyzed through finite element analysis (FEA) method and is optimized using the design exploration tools. The mechanism is firstly designed by the Rigid Body Replacement method and is based on the double slider mechanism. Morphing is successfully achieved through the use of contact aided features and a pseudo spring beam to decouple the X and Y displacements. The design is refined and optimized using commercial finite element analysis software to closely match an ideal X and Y displacement path and displacement activated transition from X displacement to Y displacement whilst minimizing the input actuation force. Experimental tests are to be conducted to validate the design.