Detection of finger displcement and gripping force of piezoelectric micro-gripper

CUI Yu-guo; ZHU Yao-xiang; LOU Jun-qiang; FENG Feng-yi

doi:10.3788/OPE.20152305.1372

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Detection of finger displcement and gripping force of piezoelectric micro-gripper

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- Detection of finger displcement and gripping force of piezoelectric micro-gripper
- Optics and Precision Engineering Vol. 23, Issue 5, Pages: 1372-1379(2015)
- 作者机构：
  
  1. 宁波大学机械工程与力学学院,浙江宁波,315211
  2. 浙江省零件轧制成型技术研究重点实验室,浙江宁波,315211
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20152305.1372
  CLC： TN384
- Received：21 November 2014，
  
  Revised：15 December 2014，
  
  Published：25 May 2015
- 稿件说明：
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崔玉国, 朱耀祥, 娄军强等. 压电微夹钳钳指位移与夹持力的检测[J]. 光学精密工程, 2015,23(5): 1372-1379

CUI Yu-guo, ZHU Yao-xiang, LOU Jun-qiang etc. Detection of finger displcement and gripping force of piezoelectric micro-gripper[J]. Editorial Office of Optics and Precision Engineering, 2015,23(5): 1372-1379
崔玉国, 朱耀祥, 娄军强等. 压电微夹钳钳指位移与夹持力的检测[J]. 光学精密工程, 2015,23(5): 1372-1379 DOI： 10.3788/OPE.20152305.1372.

CUI Yu-guo, ZHU Yao-xiang, LOU Jun-qiang etc. Detection of finger displcement and gripping force of piezoelectric micro-gripper[J]. Editorial Office of Optics and Precision Engineering, 2015,23(5): 1372-1379 DOI： 10.3788/OPE.20152305.1372.

摘要

为避免在利用压电微夹钳夹持微对象过程中可能造成微对象的损伤或脱落

提出用电阻应变片来检测压电微夹钳的钳指位移与夹持力。采用柔性杠杆放大机构设计了微夹钳

该微夹钳结构微小且紧凑、钳指可平动、指尖夹持灵敏度高。基于悬臂梁弯曲变形理论及有限元方法

分析了用于检测钳指位移与夹持力的微夹钳弹性敏感单元的应变特性。分析结果表明:敏感单元的最大应变部位靠近其底端

钳指位移与夹持力同敏感单元的应变成正比;实验标定了钳指位移与夹持力同弹性敏感单元应变的关系

标定结果表明两种关系均为线性关系;最后实验测试了钳指位移与夹持力的大小。结果表明:在150 V的最大电压下

不夹持微对象时钳指的最大位移为78.35 m

夹持

0.3 mm、长8 mm的微轴时钳指的夹持力为9.24 N。

Abstract

To avoid damage or drop of micro objects in the gripping processing by a piezoelectric micro-gripper

the finger displacement and gripping force of the piezoelectric micro-gripper were detected by a resistance strain gauge. A novel gripper was presented by using flexible lever magnifying mechanism. The gripper has advantages of compact structure

integrated gripper body

translational motion of fingers

and the high sensitivity of fingertips. Based on bending theory of cantilever beam and finite element method

the strain characteristics of the elastic sensitive cell of the gripper were analyzed

the conclusion shows that the maximum strain part of the sensitive cell is closed to the bottom of the finger

and the displacement and gripping force of the fingers are proportional to the strain of the elastic sensitive cell. Then

relationships between the finger displacement

gripping force and the strain of the elastic sensitive cell were calibrated by experiments. The calibrating results show that both the two relationships are linear. Finally

the actual finger displacement and gripping force of the gripper were tested

and the tested results show that when a maximal voltage of 150 V is applied to the piezoelectric actuator

the maximal displacement of finger is 78.35 m in no-load condition

and the gripping force of the fingers is 9.24

N for holding a micro shaft with

0.3 mm and length of 8 mm.

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Keywords

references

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CUI Yu-guo

ZHENG Jun-hui

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CAI Cheng-bo

Related Institution

Zhejiang Provincial Key Laboratory of Part Rolling Technology, Ningbo University

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