The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper

A full-flexure micro gripper with three-stage amplification has been designed. The pseudo-rigid-body (PRB) model of a bridge-type amplification mechanism (BTAM) and micro gripper are established; the input/output stiffness of the BTAM are deduced on the use of the compliant mechanism, Castigliano’s theorem and the PRB method. The characteristic equations and state-space equations of the micro gripper are derived on the basis of bond graph theory. The displacement simulation curve and flexible hinge angular simulation curve of the micro gripper are acquired through Matlab R2013b programming. Ansys13.0 finite element simulation software is utilized for simulation analysis of the micro gripper micro-motion. The micro gripper is 3D printed using laser rapid prototyping technology, and a test bench has been set up. The experimental value, finite element analysis value, and Matlab simulation value are comparatively analysed, and the change rules are essentially the same. As a result, the validity of the bond graph model of the micro gripper is verified, and providing a new effective method for the flexible mechanism analysis.

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