Development of a monolithic compliant SPCA-driven micro-gripper

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	Development of a monolithic compliant SPCA-driven micro-gripper
	Zhang, Dapeng; Zhang, Zhengtao; Gao, Qun; Xu, De; Liu, Song
刊名	MECHATRONICS
	2015-02-01
卷号	25 页码:37-43
关键词	Micro-gripper Compliant mechanism Kinematic model Static model
英文摘要	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.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Engineering, Mechanical
研究领域[WOS]	Automation & Control Systems ; Computer Science ; Engineering
关键词[WOS]	FLEXURE-BASED MICROGRIPPER ; PIEZOELECTRIC MICROGRIPPER ; OBJECT MANIPULATION ; FORCE ; DESIGN ; SENSOR
收录类别	SCI
语种	英语
WOS记录号	WOS:000352925200005
公开日期	2015-09-22
内容类型	期刊论文
源URL	[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
推荐引用方式 GB/T 7714	Zhang, Dapeng,Zhang, Zhengtao,Gao, Qun,et al. Development of a monolithic compliant SPCA-driven micro-gripper[J]. MECHATRONICS,2015,25:37-43.
APA	Zhang, Dapeng,Zhang, Zhengtao,Gao, Qun,Xu, De,&Liu, Song.(2015).Development of a monolithic compliant SPCA-driven micro-gripper.MECHATRONICS,25,37-43.
MLA	Zhang, Dapeng,et al."Development of a monolithic compliant SPCA-driven micro-gripper".MECHATRONICS 25(2015):37-43.