Design and analysis of a two-degrees-of-freedom monolithic compliant piezoelectric microgripper. (October 2022)

• Record Type: Journal Article
• Authors: Song, Shuaiguan; Yang, Yiling; Fu, Lei; Li, Guoping; Wei, Yanding
• Is Part Of: Journal of intelligent material systems and structures. Volume 33:Number 17(2022)
• Page Start: 2176
• Page End: 2196
• Publication Date: 2022-10
• Subjects: Microgripper -- compliant mechanism -- piezoelectric actuation -- multiple degrees of freedom; Smart materials -- Periodicals; Intelligent control systems -- Periodicals; Artificial intelligence -- Periodicals; Matériaux intelligents -- Périodiques; Commande intelligente -- Périodiques; Intelligence artificielle -- Périodiques; 620.11
• DOI: 10.1177/1045389X221077431
• Languages: English
• ISSNs: 1045-389X

Abstract

This paper presents the design, modeling, and testing of a compliant two-degrees-of-freedom microgripper using a single piezoelectric actuator. It can move along the x - and y -directions by combining double-leaf bridge and parallelogram mechanisms. An analytical model is established using the finite-element method. The displacement amplification ratio, natural frequency, and output coupling ratio are analyzed using ANSYS software. An experimental test system is built to verify the open-loop performances. Experimental results show that the displacement amplification ratios in the x - and y -directions are 30.8 and 8.6. The first resonant frequencies in the x - and y -directions are 123.3 and 546.9 Hz. If an input displacement of 10 μm is applied, the operating ranges in the x - and y -directions are 0–616.6 μm and 0–51.0 μm, and the gripping force range is 0–25.8 mN. Experimental results validate the feasibility of the theoretical model and simulation analysis. Also, closed-loop trajectory control is conducted to reduce the hysteresis nonlinearity and achieve a high control accuracy for the new microgripper.