Design of a 4-DOF Piezoelectric Micro-gripper

doi:10.3901/JME.2017.23.165

Abstract

Abstract: To reduce the complexity of micromanipulation system, a 4-DOF piezoelectric micro-gripper is proposed. Firstly, a 4-DOF piezoelectric micro-gripper is designed using the piezoelectric bimorph actuators. The gripper could bring displacements both in the gripping direction and the vertical direction. The gripper is composed of two unimorphs which is designed as clamp shape. The driving electrodes of the gripper are fabricated on non adhesive surface of each unimorph. The driving electrodes on the unimorph are mutually insulated and aligned with each other. Secondly, the relationships between the displacement and the geometric parameters of the finger, as well as driving voltage are deduced based on the bending theory of piezoelectric cantilevers. Then the static and dynamic characterizations of the optimized gripper are analyzed using ANSYS. Finally, the static and the dynamic performances of the micro-gripper are tested experimentally. The results show that:at the driving voltage of 60 V, the displacements of the left and right finger in the gripping direction are 25.7 μm and 26.1 μm, respectively; the displacements of the left and right finger in the vertical direction are 33.8 μm and 32.8 μm, respectively. The displacements of two fingers have good repeatability. In the gripping direction and the vertical direction, the natural frequencies of the gripper are 2.35 kHz and 0.62 kHz, respectively. The response time of the micro-gripper in the gripping direction and vertical to the gripping direction are both 0.23 s at the step voltage of 15 V.

Key words: 4-DOF, analysis and test of performance, piezoelectric micro-gripper, structure design

CLC Number:

TH39

CUI Yuguo, WANG Zibin, MA Jianqiang, ZHENG Junhui, WU Liangen. Design of a 4-DOF Piezoelectric Micro-gripper[J]. Journal of Mechanical Engineering, 2017, 53(23): 165-173.

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