{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,16]],"date-time":"2026-02-16T10:23:19Z","timestamp":1771237399449,"version":"3.50.1"},"reference-count":30,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2023,4,24]],"date-time":"2023-04-24T00:00:00Z","timestamp":1682294400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>To address coupling motion issues and realize large constant force range of microgrippers, we present a serial two-degree-of-freedom compliant constant force microgripper (CCFMG) in this paper. To realize a large output displacement in a compact structure, Scott\u2013Russell displacement amplification mechanisms, bridge-type displacement amplification mechanisms, and lever amplification mechanisms are combined to compensate stroke of piezoelectric actuators. In addition, constant force modules are utilized to achieve a constant force output. We investigated CCFMG\u2019s performances by means of pseudo-rigid body models and finite element analysis. Simulation results show that the proposed CCFMG has a stroke of 781.34 <jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574723000310_inline1.png\"\/><jats:tex-math>\n${\\unicode[Times]{x03BC}}\\mathrm{m}$\n<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula> in the X-direction and a stroke of 258.05 <jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574723000310_inline2.png\"\/><jats:tex-math>\n${\\unicode[Times]{x03BC}}\\mathrm{m}$\n<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula> in the Y-direction, and the decoupling rates in two directions are 1.1% and 0.9%, respectively. The average output constant force of the clamp is 37.49 N. The amplification ratios of the bridge-type amplifier and the Scott\u2013Russell amplifier are 7.02 and 3, respectively. Through finite element analysis-based optimization, the constant force stroke of CCFMG is increased from the initial 1.6 to 3 mm.<\/jats:p>","DOI":"10.1017\/s0263574723000310","type":"journal-article","created":{"date-parts":[[2023,4,24]],"date-time":"2023-04-24T11:49:19Z","timestamp":1682336959000},"page":"2064-2078","source":"Crossref","is-referenced-by-count":12,"title":["Design and optimization of a decoupled serial constant force microgripper for force sensitive objects manipulation"],"prefix":"10.1017","volume":"41","author":[{"given":"Ye","family":"Shan","sequence":"first","affiliation":[]},{"given":"Bingxiao","family":"Ding","sequence":"additional","affiliation":[]},{"given":"Jianhua","family":"Zhong","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4448-3310","authenticated-orcid":false,"given":"Yangmin","family":"Li","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,4,24]]},"reference":[{"key":"S0263574723000310_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2021.113083"},{"key":"S0263574723000310_ref3","doi-asserted-by":"publisher","DOI":"10.1115\/1.4030653"},{"key":"S0263574723000310_ref1","doi-asserted-by":"publisher","DOI":"10.3390\/s130505826"},{"key":"S0263574723000310_ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.apm.2011.09.064"},{"key":"S0263574723000310_ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s00542-018-3861-y"},{"key":"S0263574723000310_ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2008.06.007"},{"key":"S0263574723000310_ref10","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574722000340"},{"key":"S0263574723000310_ref14","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/aa8102"},{"key":"S0263574723000310_ref2","doi-asserted-by":"crossref","unstructured":"[2] Das, T. K. , Shirinzadeh, B. , Ghafarian, M. and Pinskier, J. . \u201cA Flexure-Based 2-DOF Microgripper for Handling Micro-Objects,\u201d In: International Conference on Manipulation, Automation and Robotics at Small Scales (2018) pp. 1\u20136.","DOI":"10.1109\/MARSS.2018.8481193"},{"key":"S0263574723000310_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2010.12.003"},{"key":"S0263574723000310_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2163200"},{"key":"S0263574723000310_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s00542-020-04830-9"},{"key":"S0263574723000310_ref11","doi-asserted-by":"crossref","first-page":"104970","DOI":"10.1016\/j.mechmachtheory.2022.104970","article-title":"A survey on synthesis of compliant constant force\/torque mechanisms","volume":"176","author":"Ling","year":"2022","journal-title":"Mech. Mach. 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