Development of a monolithic compliant SPCA-driven micro-gripper
文献类型：期刊论文
| 作者 | Zhang, Dapeng ; Zhang, Zhengtao; Gao, Qun; Xu, De; Liu, Song
|
| 刊名 | MECHATRONICS
 |
| 出版日期 | 2015-02-01 |
| 卷号 | 25页码:37-43 |
| 关键词 | Micro-gripper Compliant mechanism Kinematic model Static model |
| 英文摘要 | This paper develops a monolithic compliant SPCA-driven micro-gripper for micro-assembly and describes the mechanism design, kinematic model, static model, control strategy and experimental verification of micro-gripper. The paper includes the following points: (1) the MCM integrates the lever mechanism and parallelogram mechanism so as to magnify the SPCA input and transform the linear input of SPCA into the clamping movement of gripping jaw. In addition, the kinematic model of the MCM is established to describe the relationship between the SPCA input and the output displacement of gripping jaw. (2) The static model of movement jaw is established to analyze the inherent relationship between the gripping force and the strain angle of flexible hinge. (3) The control strategy based on the incremental PID algorithm is applied to control the gripping manipulation of micro-gripper. The control strategy selects the visual or force feedback signal according to the contacting condition between the gripping jaw and clamped micro-object. Finally, a series of experiments were performed to validate the kinematic model, static model and control strategy of micro-gripper. In addition, a glassy micro-tube with 150 mu m diameter was clamped non-destructively by the developed micro-gripper. (C) 2014 Elsevier Ltd. All rights reserved. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Computer Science ; Engineering |
| 关键词[WOS] | FLEXURE-BASED MICROGRIPPER ; PIEZOELECTRIC MICROGRIPPER ; OBJECT MANIPULATION ; FORCE ; DESIGN ; SENSOR |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000352925200005 |
| 公开日期 | 2015-09-22 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/8136]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 作者单位 | Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Dapeng,Zhang, Zhengtao,Gao, Qun,et al. Development of a monolithic compliant SPCA-driven micro-gripper[J]. MECHATRONICS,2015,25:37-43. |
| APA | Zhang, Dapeng,Zhang, Zhengtao,Gao, Qun,Xu, De,&Liu, Song.(2015).Development of a monolithic compliant SPCA-driven micro-gripper.MECHATRONICS,25,37-43. |
| MLA | Zhang, Dapeng,et al."Development of a monolithic compliant SPCA-driven micro-gripper".MECHATRONICS 25(2015):37-43. |
入库方式： OAI收割
来源：自动化研究所
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