A flexure-based gripper for small-scale manipulation
A flexure-based gripper for small-scale manipulation
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DOI：
10.1017/s026357479900096x
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发表时间：
1999-03-01
期刊：
影响因子：
2.7
通讯作者：
Celanovic, N
中科院分区：
文献类型：
--
作者：
Goldfarb, M;Celanovic, N
针对需要精确位置和力控制的操作任务，设计了一种小型柔性夹持器。夹持器由压电陶瓷叠层致动器致动，并利用应变计来测量夹持力和位移。位置和力带宽分别设计为10赫兹和100赫兹，以提供基于人类的远程操作的透明度。夹持器有效地作为一个度的自由度的调查，符合机构的位置和力控制的微操作设计。数据的特点下，纯位置和纯力控制的微夹持器的性能，然后通过讨论的属性和基于弯曲的设计的局限性。
A small-scale flexure-based gripper was designed for manipulation tasks requiring precision position and force control. The gripper is actuated by a piezoelectric ceramic stack actuator and utilizes strain gages to measure both the gripping force and displacement. The position and force bandwidths were designed for ten Hertz and one hundred Hertz, respectively, in order to afford human-based teleoperative transparency. The gripper serves effectively as a one degree-of-freedom investigation of compliant mechanism design for position and force controlled micromanipulation. Data is presented that characterizes the microgripper performance under both pure position and pure force control, followed by a discussion of the attributes and limitations of flexure-based design.