A three-stage amplification piezoelectric-actuated micro-gripper with adjustable output displacement: design, modeling, and experimental evaluation
Dongmei Xu, Fan Yang, Simiao Yu, Chao Xu, Xianglong Liu, Zhiwei Zhao, Xuhui Zhang, Shuaitian Li, Huixi Yang, Qi Lu
Abstract
Abstract With the development of science and technology, the performance requirements of micro-gripper are getting higher and higher. Therefore, this paper designs a new piezoelectric-driven micro-gripper with large and adjustable output displacement, which can adjust the output range and compensate the errors caused by flexible mechanism. By adjusting the output displacement, the micro-components of different sizes can be clamped. The three-stage amplification mechanism is adopted, which utilizes triangle and lever amplification. Using the pseudo-rigid body method, the flexible hinge is analyzed; the statics, kinematics and dynamics models are established. Through finite element method, the magnification ratio of the micro-gripper is obtained, then the structure of the micro-gripper is further optimized. The output displacement and the magnification of the single-arm of the micro-gripper under 135 V are 223.8 μ m and 24.2 times, respectively. This paper provides a basis for the wide application of micro-gripper.