Design and Control of a Piezoelectric-Driven Microgripper Perceiving Displacement and Gripping Force

• Published in: Micromachines (Basel) Vol. 11; no. 2; p. 121
• Main Authors: Zhao, Yanru, Huang, Xiaojie, Liu, Yong, Wang, Geng, Hong, Kunpeng
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI 21.01.2020; MDPI AG
• Subjects: gripping force; microassembly; microgripper; pid controller; tip displacement; PID controller; tip displacement; microassembly; gripping force; microgripper

A piezoelectric-driven microgripper with three-stage amplification was designed, which is able to perceive the tip displacement and gripping force. The key structure parameters of the microgripper were determined by finite element optimization and its theoretical amplification ratio was derived. The...