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This paper presents the design and control of a novel gripper device with a passive type of compliant constant-force mechanism. The function of constant-force output is achieved by using the combination of a positive-stiffness and a negative-stiffness mechanism. The negative stiffness is generated by a bistable buckled fixed-guided beam. Conventionally, when gripping a target-object using a high-stiffness...
This paper presents the design of a compliant constant force output gripper mechanism. The function of constant force output is achieved by using the negative stiffness effect of a buckled fixed-guided beam. One advantage is that it can eliminate the needs of complicated force-displacement combined control algorithm. Details of the nonlinear design process have been demonstrated. ANSYS APDL and MATLAB...
This paper reports on the design and analysis of an integrated micromanipulator for both cell gripping and injection operations. The novel device is actuated by three piezoelectric stack actuators, whose outputs are amplified by mechanical amplifiers. It not only provides a sufficient output displacement for gripping and injecting the cell, but also delivers a higher resolution. Analytical static...
In this paper, the design procedure of an auto-focusing device for a microscope is presented. To obtain a long focusing distance, a new flexure positioning mechanism is devised based on multi-stage leaf springs. The proposed device allows a precise focusing without friction and backlash effects. A voice coil motor is employed to drive the positioning mechanism. The stiffness model and resonant-frequency...
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