Hong Yuan, Wu Yimin, Jin Shichao, Liu Dayong, Chi Baihong
Space Star Technology Co., Ltd., Beijing 100086, China.
Micromachines (Basel). 2022 Feb 25;13(3):366. doi: 10.3390/mi13030366.
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.
本文提出了一种具有两种工作模式的新型微夹钳。该微夹钳采用对称结构设计，各部分分别由一个压电致动器驱动。为了实现所需的输出位移，微夹钳的各部分采用三级放大机构来放大压电致动器的位移。根据微物体的尺寸，抓取操作可以通过一个手指移动或两个手指同时移动来完成。然后，进行理论分析以计算关键特性，包括放大倍数、输入刚度和频率。进行有限元分析（FEA）以优化结构参数并研究微夹钳的性能。最后，通过电火花线切割加工（WEDM）方法加工出一个原型，并进行实验以验证微夹钳的性能。结果表明，当输入电压为100 V时，放大倍数为10.41，一个钳口的运动行程为118.34 µm。第一固有频率为746.56 Hz。通过拾取和放置不同直径的导线以及不同厚度的薄片，验证了抓取稳定性。
