Design of Flexible Constant Force Manipulator based on Metamorphic Mechanism Transform

Abstract

Flexible mechanism can store and release energy by elastic deformation. Constant force can be achieved when the stored energy and released energy are approximately equal. Considering the common advantages of flexible metamorphic principle and constant force mechanism, a flexible metamorphic constant force manipulator is designed. Firstly, the structure design of the device is introduced, and the model is built according to the size relationship. Secondly, the motion of the device is analyzed according to the geometric relationship. Finally, the theoretical output force is calculated according to the principle of virtual work, and the constant force range is found by particle swarm optimization. The device does not need to install force sensors, and does not need a control system to achieve constant force clamping of the manipulator and has self-adaptability. It is suitable for clamping thin-walled and fragile articles such as cells, chips, glass and so on. It has good application prospects in biomedicine, production, life and scientific applications.

Keywords

• Manipulator