Abstract
This paper proposes a novel microgripper with two working modes. The microgripper is designed with symmetric structure and each part is actuated by one piezoelectric actuator, respectively. To achieve desired output displacement, each part of the microgripper is designed with three-stage amplification mechanism to amplify the displacement of the PZT actuator. According to the size of the microobjects, the grasping operation can be completed by one finger moving or two fingers moving simultaneously. Then, the theoretical analysis is carried out to calculated the key characteristics, including amplification, input stiffness and frequency. Finite element analysis (FEA) is conducted to optimize the structural parameters and investigate the performance of the microgripper. Finally, a prototype is machined by wire electro-discharge machining (WEDM) method and experiments are carried out to verify the performance of the microgripper. The results indicate that the amplification is 10.41 and the motion stroke of one jaw is 118.34 µm when the input voltage is 100 V. The first natural frequency is 746.56 Hz. By picking and placing the wires with different diameters and slices with different thickness, the grasping stability is verified.
Highlights
Theoretical analysis and finite element analysis (FEA) were adopted to investigate the characteristics of the microgripper, and the results shown that the amplification ratio can reach 16.78
When grasping mode displacement of two finger movement is adopted pick the adopted to pick the tinythe object, the output of two fingers can be to controlled tiny object, the output displacement of two fingers can be controlled to be consist by the to be consist by the displacement controller, which can avoid the disadvantages of the displacement controller, which can avoid the disadvantages of the microgrippers driven microgrippers driven by one PZT actuator
The structurewith of this microgripper can be divided into left analyzed and tested in this paper. The structure of this microgripper can be divided part and right part, which are driven by two PZT actuators, respectively
Summary
Research in the microscopic fields such as biological engineering [1,2], microelectronics industrial [3,4], and precise assembly [5,6], have attracted more and more attention. The PZT actuating microgripper possess the advantages of high force output to weight ratio, fast response and zero backlash, which has been widely used in micromanipulation [13]. To achieve large amplification ratio, most of the existing microgrippers are designed with symmetric structure and two fingers are driven by one actuator. A high compliant microgripper with symmetric structure was developed and each part was designed with a two-stage lever mechanism [14]. Micromachines 2022, 13, 366 which can achieve the maximum jaw displacement of 134 μm and a high amplification ratio of 15.5. Liang et al [16] proposed a piezoelectric actuated microgripper, which can achieve an amplification ratio of 22.8 and an output displacement of 190 μm corresponding to the 100 V input voltage. PZT-actuated microgripper high force output to weight ratio, fast response and zero backlash hysteresis nonlinearity.
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