Design and Control of a Piezoelectric-Driven Microgripper Perceiving Displacement and Gripping Force.
PID controller
gripping force
microassembly
microgripper
tip displacement
Journal
Micromachines
ISSN: 2072-666X
Titre abrégé: Micromachines (Basel)
Pays: Switzerland
ID NLM: 101640903
Informations de publication
Date de publication:
21 Jan 2020
21 Jan 2020
Historique:
received:
18
12
2019
revised:
12
01
2020
accepted:
15
01
2020
entrez:
25
1
2020
pubmed:
25
1
2020
medline:
25
1
2020
Statut:
epublish
Résumé
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 tracking experiments of the tip displacement and gripping force were conducted with a PID controller. It is shown that the standard deviation of tracking error of the tip displacement is less than 0.2 μm and the gripping force is 0.35 mN under a closed-loop control. It would provide some references for realizing high-precision microassembly tasks with the designed microgripper which can control the displacement and gripping force accurately.
Identifiants
pubmed: 31973158
pii: mi11020121
doi: 10.3390/mi11020121
pmc: PMC7074465
pii:
doi:
Types de publication
Journal Article
Langues
eng
Subventions
Organisme : Key Research Project in Colleges and Universities of Henan Province
ID : 17A460016
Organisme : Science and Technique Plan Project of Henan Technology Department
ID : 162102310431
Organisme : National Natural Science Foundation of China
ID : 51505133
Déclaration de conflit d'intérêts
The authors declare no conflict of interest.
Références
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pubmed: 25933896