Analytical Model and Computing Optimization of a Compliant Gripper for the Assembly System of Mini Direct-Current Motor

Ngoc Le Chau, Nhat Linh Ho, Ngoc Thoai Tran and Thanh-Phong Dao
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Ngoc Le Chau: Faculty of Mechanical Engineering, Industrial University of Ho Chi Minh City, Ho Chi Minh City, Vietnam
Nhat Linh Ho: Koei Vietnam Company Limited, Ho Chi Minh City, Vietnam
Ngoc Thoai Tran: Faculty of Mechanical Engineering, Industrial University of Ho Chi Minh City, Ho Chi Minh City, Vietnam
Thanh-Phong Dao: Division of Computational Mechatronics, Institute for Computational Science, Ton Duc Thang University, Ho Chi Minh City, Vietnam &Faculty of Electrical & Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City, Vietnam

International Journal of Ambient Computing and Intelligence (IJACI), 2021, vol. 12, issue 1, 1-28

Abstract: This study proposes a combination of kinematics-based design method, statistic method, and TLBO algorithm to solve computing optimization for a compliant gripper. It is employed in an assembly system of mini direct current motor. First, the kinematic models of the gripper are developed. The static model is paid attention. Next, the dynamic model is established based on Lagrange's principle. Then, a multi-criteria optimization for the gripper is conducted by Taguchi method integrated with TLBO algorithm. Finally, the FEA and experiments are implemented to verify the optimal results and evaluate the performances of the compliant gripper. The results indicated that theoretical models are in good accord with the results from simulations and experiments. Additionally, the performance of the present method is superior to PSO algorithm. The results revealed that the compliant gripper allows a displacement up to 3000 µm and the amplification ratio of 12 times. The compliant gripper is a potential application for the mini direct-current motor assembly system.

Date: 2021
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