MINISTRY OF EDUCATION AND TRAINING HCM CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION HO NHAT LINH DEVELOPMENT AND OPTIMIZATION OF GRIPPERS FOR CYLINDER SAMPLES USING COMPLIANT MECHANISMS PH D DISSERTATI[.]
MINISTRY OF EDUCATION AND TRAINING HCM CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION HO NHAT LINH DEVELOPMENT AND OPTIMIZATION OF GRIPPERS FOR CYLINDER SAMPLES USING COMPLIANT MECHANISMS PH.D DISSERTATION MAJOR: MECHANICAL ENGINEERING CODE: 9520103 Ho Chi Minh City, July 2023 MINISTRY OF EDUCATION AND TRAINING HCM CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION HO NHAT LINH DEVELOPMENT AND OPTIMIZATION OF GRIPPERS FOR CYLINDER SAMPLES USING COMPLIANT MECHANISMS PH.D DISSERTATION MAJOR: MECHANICAL ENGINEERING CODE: 9520103 Supervisor 1: Assoc Prof Dr Le Hieu Giang Supervisor 2: Dr Dao Thanh Phong Reviewer 1: Reviewer 2: Reviewer 3: Ho Chi Minh City, July 2023 I SCIENTIFIC CURRICULUM VITAE I Personal information Full name: HO NHAT LINH Birthday: 01/01/1982 Place of birth: Long An Nationality: Vietnam Sex: Male Academic degree: Master of Engineering - 2016 Contact: No Address Phone/ fax Office 2nd Floor, No.63, Xuan Hong street, 12 Ward, Tan Binh District, HCMC, Viet Nam (+84) 944.800.004 (+84) 944.800.004 honhatlinh01011982@gmail.com Email Education background (latest): Level Time Institution HCM University of BS 2005 MS Home B69/4, My Hoa 2, Xuan Thoi Dong Ward, Hoc Mon District, HCMC, Viet Nam 2016 Technology and Education, Viet Nam Ho Chi Minh City Major/Specialty Mechanical Engineering Mechanical University of Technology, Viet Nam Engineering Organization Position II Work experience Time From to II 06/2005 01/2007 CÔNG TY TNHH VIE-PAN – Mechanical Engineer 01/2007 05/2009 Việt nam CTY TNHH IKEBA SANGYO Mechanical Engineer 12/2012 09/2013 – Nhật Bản CTY TNHH SEKO SANGYO – Nhật Bản CTY TNHH NIDEC 09/2013 Present SEIMITSU VIET NAM CTY TNHH KOEI VIET NAM 06/2009 10/2012 Mechanical Engineer Mechanical Engineer Sales engineer III Reference Dr Dao Thanh Phong Office: Institute for Computational Science, Ton Duc Thang University Email: daothanhphong@tdtu.edu.vn Assoc.Prof Dr Le Hieu Giang Office: HCMC University of Technology and Education Email: gianglh@hcmute.edu.vn Commitment: I hereby guarantee that all the above declaration is the truth and only the truth I will fully take responsibility if there is any deception Ho Chi Minh City, July 2023 Signature and Full name Ho Nhat Linh III CONTENTS CONTENTS IV ORIGINALITY STATEMENT IX ACKNOWLEDGMENTS X ABSTRACT XI LIST OF ABBREVIATIONS XII LIST OF SYMBOLS XIV LIST OF FIGURES XVII LIST OF TABLES XXII CHAPTER INTRODUCTION 1.1 Background and motivation .1 1.2 Problem description of proposed compliant grippers .6 1.3 Objects of the dissertation 1.4 Objectives of the dissertation 1.5 Research scopes 1.6 Research methods 1.7 The scientific and practical significance of the dissertation 1.7.1 Scientific significance 1.7.2 Practical significance 1.8 Contributions 1.9 Outline of the dissertation 10 CHAPTER 2.1 LITERATURE REVIEW 11 Overview of compliant mechanism .11 2.1.1 Definition of compliant mechanism .11 IV 2.1.2 2.1.3 Categories of compliant mechanism 13 Compliant joints or flexure hinges 15 2.2 Actuators 17 2.3 Displacement amplification based on the compliant mechanism 18 2.3.1 Lever mechanism 19 2.3.2 The Scott-Russell mechanism .20 2.3.3 Bridge mechanism 22 2.4 Displacement sensors based on compliant mechanisms 25 2.5 Compliant grippers based on embedded displacement sensors 28 2.6 International and domestic research 29 2.6.1 Research works in the field by foreign scientists 29 2.6.1.1 Study on compliant mechanisms by foreign scientists .29 2.6.1.2 Study on robotic grippers and compliant grippers by foreign scientists 30 2.6.2 Research works in the field by domestic scientists 38 2.6.2.1 Research on compliant mechanisms by domestic scientists .38 2.6.2.2 Research on robotic grippers and compliant grippers by domestic scientists .39 2.7 Summary CHAPTER THEORETICAL FOUNDATIONS 43 45 3.1 Design of experiments 45 3.2 Modeling methods and approaches for compliant mechanisms 48 3.2.1 Analytical methods 48 3.2.1.1 Pseudo-rigid-body model 49 3.2.1.2 Lagrange-based dynamic modeling approaches 50 3.2.1.3 Finite Element Method 51 V 3.2.1.4 Graphic method, Vector method, and Mathematical analysis .52 3.2.2 Data-driven modeling methods 52 3.2.3 Statistical methods .55 3.3 Optimization methods 56 3.3.1 Metaheuristic algorithms 58 3.3.2 Data-driven optimization 59 3.4 Weighting factors in multi-objective optimization problems 59 3.5 Summary 60 CHAPTER DESIGN, ANALYSIS, DISPLACEMENT SENSOR FOR AN AND OPTIMIZATION ASYMMETRICAL OF A COMPLIANT GRIPPER 61 4.1 Research targets of displacement sensor for compliant gripper 61 4.2 Structural design of proposed displacement sensor 62 4.2.1 Mechanical design and working principle of a proposed displacement sensor 62 4.2.1.1 Description of structure of displacement sensor 62 4.2.1.2 The working principle of a displacement sensor 65 4.2.2 Technical requirements of a proposed displacement sensor 68 4.3 Behavior analysis of the displacement sensor 68 4.3.1 Strain versus stress .68 4.3.2 Stiffness analysis 80 4.3.3 Frequency response 82 4.4 Design optimization of a proposed displacement sensor 85 4.4.1 Description of optimization problem of a proposed displacement sensor 85 4.4.1.1 Definition of design variables 88 VI 4.4.1.2 4.4.1.3 Definition of objective functions 89 Definition of constraints 90 4.4.1.4 The proposed method for optimizing the displacement sensor 90 4.4.2 Optimal Results and Discussion 95 4.4.2.1 Determining Weight Factor 95 4.4.2.2 Optimal results 104 4.4.3 Verifications 108 4.5 Summary CHAPTER 111 COMPUTATIONAL MODELING AND OPTIMIZATION OF A SYMMETRICAL COMPLIANT GRIPPER FOR CYLINDRICAL SAMPLES 113 5.1 Basic application of symmetrical compliant gripper for cylinder samples 113 5.2 Research targets of symmetrical compliant gripper 114 5.3 Mechanical design of symmetrical compliant gripper 115 5.3.1 Description of structural design 115 5.3.2 Technical requirements of proposed symmetrical compliant gripper 117 5.3.3 Behavior analysis of the proposed compliant gripper 117 5.3.3.1 Kinematic analysis 117 5.3.3.2 Stiffness analysis 121 5.3.3.3 Static analysis 124 5.3.3.4 Dynamic analysis 125 5.4 Design optimization of the compliant gripper 126 5.4.1 Problem statement of optimization design 126 5.4.1.1 Determination of design variables 127 5.4.1.2 Determination of objective functions 128 5.4.1.3 Determination of constraints 128 VII 5.4.2 Proposed optimization method for the compliant gripper 129 5.4.3 Optimized results and validations 131 5.4.3.1 Optimized results 131 5.4.3.2 Validations 136 5.5 Summary 139 CHAPTER CONCLUSIONS AND FUTURE WORKS 141 6.1 Conclusions 141 6.2 Future works 142 REFERENCES 143 APPENDIX 165 VIII