Bending Behavior of a Microgripper Compliant Joint Arm

For the mathematical modeling of the bending behavior on a microgripper compliant arm it is necessary to estimate the compliance impact on the system. In case of low bending force values, the linear dependence between force and elastic deformation is presumed. After performing bending experiments on full section and, respectively, compliant arms, there was determined an elastic coefficient allowing the mathematical modeling of the compliant beam as a full section beam and a moment of inertia reduced proportionally to the calculated elastic coefficient. The modeling results are consistent with the results of the experiments performed on the prototype.