A piezoelectric biaxial-driven flexible microgripper with symmetrical structure is proposed,which consists of two symmetrically distributed bridge-type amplifiers,each bridge amplifier is connected to a lever mechanism to amplify output displacement.The kinematic and dynamic models are established by using virtual work principle and Lagrange equation.Considering the influence of each parameter on the mechanical structure, the static and dynamic characteristics of the mechanism are also analyzed.The established models are evaluated and verified by finite element method.In order to further reveal the performance of the designed micro-gripper,a prototype of the micro-gripper is fabricated by linear cutting method.A series of control experiments are carried out to illustrate the motion characteristics of the micro-gripper by adopting the dynamic surface control algorithm on the system.The results show that the amplification ratios of the left and right amplifiers of the micro-gripper are 11.25 and 11.67,respectively,and its displacement tracking performance is good.By clamping the paper,the magnitude of end micro-gripper force is detected,which also verifies the correctness and feasibility of the previous design and analysis.
关键词
柔顺机构/微夹钳/桥式机构/有限元法/动态面控制
Key words
compliant mechanism/microgripper/bridge-type mechanism/finite element method/dynamic surface control
维普
万方数据