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

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LIN, Chao ;REN, Yi-hang ;JI, Jiu-xiang ;CAI, Li-zhong ;SHAO, Ji-ming .
The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 62, n.9, p. 494-502, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/the-bond-graph-method-for-analysis-of-the-micro-motion-characteristics-of-a-micro-gripper/>. Date accessed: 22 sep. 2021. 
doi:http://dx.doi.org/10.5545/sv-jme.2015.3016.
Lin, C., Ren, Y., Ji, J., Cai, L., & Shao, J.
(2016).
The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper.
Strojniški vestnik - Journal of Mechanical Engineering, 62(9), 494-502.
doi:http://dx.doi.org/10.5545/sv-jme.2015.3016
@article{sv-jmesv-jme.2015.3016,
	author = {Chao  Lin and Yi-hang  Ren and Jiu-xiang  Ji and Li-zhong  Cai and Ji-ming  Shao},
	title = {The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {62},
	number = {9},
	year = {2016},
	keywords = {micro gripper; pseudo-rigid-body (PRB); flexure hinge; bond graph; Matlab; 3D print},
	abstract = {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.},
	issn = {0039-2480},	pages = {494-502},	doi = {10.5545/sv-jme.2015.3016},
	url = {https://www.sv-jme.eu/article/the-bond-graph-method-for-analysis-of-the-micro-motion-characteristics-of-a-micro-gripper/}
}
Lin, C.,Ren, Y.,Ji, J.,Cai, L.,Shao, J.
2016 June 62. The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 62:9
%A Lin, Chao 
%A Ren, Yi-hang 
%A Ji, Jiu-xiang 
%A Cai, Li-zhong 
%A Shao, Ji-ming 
%D 2016
%T The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper
%B 2016
%9 micro gripper; pseudo-rigid-body (PRB); flexure hinge; bond graph; Matlab; 3D print
%! The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper
%K micro gripper; pseudo-rigid-body (PRB); flexure hinge; bond graph; Matlab; 3D print
%X 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.
%U https://www.sv-jme.eu/article/the-bond-graph-method-for-analysis-of-the-micro-motion-characteristics-of-a-micro-gripper/
%0 Journal Article
%R 10.5545/sv-jme.2015.3016
%& 494
%P 9
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 62
%N 9
%@ 0039-2480
%8 2018-06-27
%7 2018-06-27
Lin, Chao, Yi-hang  Ren, Jiu-xiang  Ji, Li-zhong  Cai, & Ji-ming  Shao.
"The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper." Strojniški vestnik - Journal of Mechanical Engineering [Online], 62.9 (2016): 494-502. Web.  22 Sep. 2021
TY  - JOUR
AU  - Lin, Chao 
AU  - Ren, Yi-hang 
AU  - Ji, Jiu-xiang 
AU  - Cai, Li-zhong 
AU  - Shao, Ji-ming 
PY  - 2016
TI  - The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2015.3016
KW  - micro gripper; pseudo-rigid-body (PRB); flexure hinge; bond graph; Matlab; 3D print
N2  - 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.
UR  - https://www.sv-jme.eu/article/the-bond-graph-method-for-analysis-of-the-micro-motion-characteristics-of-a-micro-gripper/
@article{{sv-jme}{sv-jme.2015.3016},
	author = {Lin, C., Ren, Y., Ji, J., Cai, L., Shao, J.},
	title = {The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {62},
	number = {9},
	year = {2016},
	doi = {10.5545/sv-jme.2015.3016},
	url = {https://www.sv-jme.eu/article/the-bond-graph-method-for-analysis-of-the-micro-motion-characteristics-of-a-micro-gripper/}
}
TY  - JOUR
AU  - Lin, Chao 
AU  - Ren, Yi-hang 
AU  - Ji, Jiu-xiang 
AU  - Cai, Li-zhong 
AU  - Shao, Ji-ming 
PY  - 2018/06/27
TI  - The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 62, No 9 (2016): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2015.3016
KW  - micro gripper, pseudo-rigid-body (PRB), flexure hinge, bond graph, Matlab, 3D print
N2  - 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.
UR  - https://www.sv-jme.eu/article/the-bond-graph-method-for-analysis-of-the-micro-motion-characteristics-of-a-micro-gripper/
Lin, Chao, Ren, Yi-hang, Ji, Jiu-xiang, Cai, Li-zhong, AND Shao, Ji-ming.
"The Bond Graph Method for Analysis of the Micro-Motion Characteristics of a Micro Gripper" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 62 Number 9 (27 June 2018)

Authors

Affiliations

  • Chongqing University, The State Key Laboratory of Mechanical Transmission, China 1
  • Shanghai Key Laboratory of Spacecraft Mechanism, China 2

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 62(2016)9, 494-502

https://doi.org/10.5545/sv-jme.2015.3016

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.

micro gripper; pseudo-rigid-body (PRB); flexure hinge; bond graph; Matlab; 3D print