Design of Universal Flexible Micro-clamp Based on Micro-pump and Particle Blockage
Aiming at the problem that it is difficult to realize miniaturization of clamping device in automatic sorting system,a uni-versal flexible micro-clamp was proposed and prepared.The working principle of realizing flexible grasping by using the jet generated by electrically conjugated fluid and the blocking phenomenon of particle materials was studied.The overall structure of the micro-clamp was given,including a micro-pump with an electrically conjugated fluid jet generator and a small particle blocking gripper.By adjusting the air pressure in the film with a micro-pump,the particle blocking gripper could quickly grab objects with various sizes and shapes.Through the deformation of elastic membrane and the change of volume and pressure,the mathematical model of micro-clamp was ob-tained and the pressure provided by micro-pump was verified to be enough to realize the grasping performance of particle blocking grip-per.Finally,the outer diameter of the micro-clamp prototype is 14 mm,the total length is 40 mm,and the end diameter is 10 mm.The results show that when diethylene glycol butyl ether acetate is selected as the working fluid,the maximum grasping force of the micro-clamp is 93 mN when the filling rate of granular material is 50%and the voltage is 4 kV,and the precision parts with various shapes can be grasped quickly in 0.6 s.
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