A PZT Actuated Triple-Finger Gripper for Multi-Target Micromanipulation
A PZT Actuated Triple-Finger Gripper for Multi-Target Micromanipulation
复制标题
用于多目标显微操作的 PZT 驱动三指夹具
DOI：
10.3390/mi8020033
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发表时间：
2017-01-24
期刊：
影响因子：
3.4
通讯作者：
Sun L
中科院分区：
文献类型：
--
作者：
Chen T;Wang Y;Yang Z;Liu H;Liu J;Sun L
提出了一种用于多目标微操作的压电陶瓷驱动三指夹持器。夹持器由三个手指组成，安装在可调节的铰链上，可调节范围很大。每个手指具有PZT致动器、放大结构和可变末端执行器。计算了单、双手指的运动轨迹，并进行了有限元分析，验证了结构的可靠性。在抓取实验中，测试了钨探针、光纤等手指末端执行器，并对直径为10 ~ 800 μm的玻璃空心球、铁球等不同微物体进行了抓取和释放实验。输出分辨率为145 nm/V，驱动位移范围为43.4 μm。压电陶瓷驱动三指夹持器具有上级适应性强、效率高、成本低的特点。
This paper presents a triple-finger gripper driven by a piezoceramic (PZT) transducer for multi-target micromanipulation. The gripper consists of three fingers assembled on adjustable pedestals with flexible hinges for a large adjustable range. Each finger has a PZT actuator, an amplifying structure, and a changeable end effector. The moving trajectories of single and double fingers were calculated and finite element analyses were performed to verify the reliability of the structures. In the gripping experiment, various end effectors of the fingers such as tungsten probes and fibers were tested, and different micro-objects such as glass hollow spheres and iron spheres with diameters ranging from 10 to 800 μm were picked and released. The output resolution is 145 nm/V, and the driven displacement range of the gripper is 43.4 μm. The PZT actuated triple-finger gripper has superior adaptability, high efficiency, and a low cost.
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影响因子：
4.4
作者：
Li, F. F.;Liu, J.
通讯作者：
Liu, J.
DOI：
10.1109/70.744610
发表时间：
1999-02-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
Tanikawa, T;Arai, T
通讯作者：
Arai, T
影响因子：
6.4
作者：
Boudaoud, Mokrane;Haddab, Yassine;Le Gorrec, Yann
通讯作者：
Le Gorrec, Yann
影响因子：
7.7
作者：
Chen, Tao;Chen, Liguo;Li, Xinxin
通讯作者：
Li, Xinxin
影响因子：
7.8
作者：
Zhang, Yong;Chen, Brandon K.;Sun, Yu
通讯作者：
Sun, Yu