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Development of a monolithic compliant SPCA-driven micro-gripper
Zhang, Dapeng; Zhang, Zhengtao; Gao, Qun; Xu, De; Liu, Song
Source PublicationMECHATRONICS
2015-02-01
Volume25Issue:25Pages:37-43
SubtypeArticle
AbstractThis 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.
KeywordMicro-gripper Compliant Mechanism Kinematic Model Static Model
WOS HeadingsScience & Technology ; Technology
WOS KeywordFLEXURE-BASED MICROGRIPPER ; PIEZOELECTRIC MICROGRIPPER ; OBJECT MANIPULATION ; FORCE ; DESIGN ; SENSOR
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000352925200005
Citation statistics
Cited Times:11[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/8136
Collection精密感知与控制研究中心_精密感知与控制
AffiliationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Recommended Citation
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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