A Microgripper With a Large Magnification Ratio and High Structural Stiffness Based on a Flexure-Enabled Mechanism
A Microgripper With a Large Magnification Ratio and High Structural Stiffness Based on a Flexure-Enabled Mechanism
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基于弯曲机构的大放大比和高结构刚度的微夹具
DOI：
10.1109/tmech.2021.3052806
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Zhan Yang
中科院分区：
文献类型：
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作者：
Chaoyang Shi;Xinyu Dong;Zhan Yang
本文提出了一种压电驱动的微夹持器，主要由一个三级弯曲的放大机构，以实现一个良好的线性度，大的工作带宽，大的力输出能力的微操作和装配大的放大率。前两级被配置为串联连接的两个桥式放大机构，以提供高结构刚度和紧凑性方面的优点。这种结构能够产生大的力以维持跟随连接杠杆机构并确保大的位移输出，并且还产生对输入变化不敏感的稳定放大比。基于有限元法的仿真研究了所设计的微夹钳的静态和动态特性。仿真使结构优化设计已经实施，以进一步帮助和改善所提出的设计。仿真结果表明，放大倍数达到30.3，最大夹紧力达到2.17N。基于电火花线切割加工技术制作了夹持器样机，并通过微珠取放实验和动态测试验证了夹持器的性能。实验结果表明，该机器人具有31.88的放大倍数和良好的线性度，运动行程为218 μm，抓取力高达1993 mN。仿真结果与理论计算结果在运动范围和放大率方面吻合较好。
This article presents a piezoelectric-actuated microgripper that mainly consists of a three-stage flexure-based amplification mechanism to achieve a large magnification ratio with an excellent linearity, a large operating bandwidth, and a great force output capacity for micromanipulation and assembly. The first two stages are configured as two bridge-type parallelogram amplification mechanisms connected in serial to provide advantages in terms of high structural stiffness and compactness. This configuration is capable of generating large forces to maintain the following connection leverage mechanism and ensure a large displacement output, and also produces a stable amplification ratio insensitive to the input change. The finite element method-based simulation has been performed to investigate both static and dynamic characteristics of the designed microgripper. Simulation-enabled structural optimization design has been implemented to further aid and improve the proposed design. The simulation results indicate that the amplification ratio reaches 30.3 with a maximum clamping force of up to 2.17N. The gripper prototype has been fabricated based on the wire electrodischarge machining technique, and its performances have been validated through pick-and-place of microbeads experiments and dynamic tests. The experimental results have demonstrated the large amplification ratio of 31.88 with excellent linearity, and the motion stroke of 218 μm with a large grasping force up to 1993 mN. They well match the results from both simulation and theoretical calculation in terms of motion range and amplification ratio.