Development of a monolithic compliant SPCA-driven micro-gripper
Zhang, Dapeng; Zhang, Zhengtao; Gao, Qun; Xu, De; Liu, Song
2015-02-01
发表期刊MECHATRONICS
卷号25期号:25页码:37-43
文章类型Article
摘要This paper develops a monolithic compliant SPCA-driven micro-gripper for micro-assembly and describes the mechanism design, kinematic model, static model, control strategy and experimental verification of micro-gripper. The paper includes the following points: (1) the MCM integrates the lever mechanism and parallelogram mechanism so as to magnify the SPCA input and transform the linear input of SPCA into the clamping movement of gripping jaw. In addition, the kinematic model of the MCM is established to describe the relationship between the SPCA input and the output displacement of gripping jaw. (2) The static model of movement jaw is established to analyze the inherent relationship between the gripping force and the strain angle of flexible hinge. (3) The control strategy based on the incremental PID algorithm is applied to control the gripping manipulation of micro-gripper. The control strategy selects the visual or force feedback signal according to the contacting condition between the gripping jaw and clamped micro-object. Finally, a series of experiments were performed to validate the kinematic model, static model and control strategy of micro-gripper. In addition, a glassy micro-tube with 150 mu m diameter was clamped non-destructively by the developed micro-gripper. (C) 2014 Elsevier Ltd. All rights reserved.
关键词Micro-gripper Compliant Mechanism Kinematic Model Static Model
WOS标题词Science & Technology ; Technology
关键词[WOS]FLEXURE-BASED MICROGRIPPER ; PIEZOELECTRIC MICROGRIPPER ; OBJECT MANIPULATION ; FORCE ; DESIGN ; SENSOR
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Computer Science ; Engineering
WOS类目Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000352925200005
引用统计
被引频次:9[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/8136
专题精密感知与控制研究中心_精密感知与控制
作者单位Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing, Peoples R China
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GB/T 7714
Zhang, Dapeng,Zhang, Zhengtao,Gao, Qun,et al. Development of a monolithic compliant SPCA-driven micro-gripper[J]. MECHATRONICS,2015,25(25):37-43.
APA Zhang, Dapeng,Zhang, Zhengtao,Gao, Qun,Xu, De,&Liu, Song.(2015).Development of a monolithic compliant SPCA-driven micro-gripper.MECHATRONICS,25(25),37-43.
MLA Zhang, Dapeng,et al."Development of a monolithic compliant SPCA-driven micro-gripper".MECHATRONICS 25.25(2015):37-43.
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