Development of a monolithic compliant SPCA-driven micro-gripper

Zhang, David; Zhang, Zhengtao; Gao, Qun; Xu, De; Liu, Song

doi:10.1016/j.mechatronics.2014.11.006

Cited by 49 publications

(20 citation statements)

References 32 publications

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“…Considering that the micromanipulation progress is usually very slow [26], and the model errors always exist, a simple proportional-integral (PI) controller was used to compensate the force errors. Based on the force observer, the control algorithm could eliminate the steady error and respond rapidly.…”

Section: Hybrid Position/force Controller Designmentioning

confidence: 99%

Development and Hybrid Position/Force Control of a Dual-Drive Macro-Fiber-Composite Microgripper

Zhang

Yang

Lou

et al. 2018

Sensors

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This paper reports on the development, implementation and hybrid control of a new micro-fiber-composite microgripper with synchronous position and force control capabilities. In particular, the micro-fiber-composite actuator was composed of rectangular piezoelectric fibers covered by interdigitated electrodes and embedded in structural epoxy. Thus, the micro-fiber-composite microgripper had a larger displacement-volume ratio (i.e., the ratio of the output displacement to the volume of the microgripper) than that of a traditional piezoelectric one. Moreover, to regulate both the gripper position and the gripping force simultaneously, a hybrid position/force control scheme using fuzzy sliding mode control and the proportional-integral controller was developed. In particular, the fuzzy sliding mode control was used to achieve the precision position control under the influence of the system disturbances and uncertainties, and the proportional-integral controller was used to guarantee the force control accuracy of the microgripper. A series of experimental investigations was performed to verify the feasibility of the developed microgripper and the control scheme. The experimental results validated the effectiveness of the designed microgripper and hybrid control scheme. The developed microgripper was capable of precision and multiscale micromanipulation tasks.

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Section: Hybrid Position/force Controller Designmentioning

confidence: 99%

Development and Hybrid Position/Force Control of a Dual-Drive Macro-Fiber-Composite Microgripper

Zhang

Yang

Lou

et al. 2018

Sensors

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“…Consequently, analyzing compliant mechanisms can be simplified as an issue of rigid-body mechanisms. The pseudo-rigid-body model has been proven over time to be an effective tool for analysis and synthesis of compliant mechanisms involving both small and large deflections [61][62][63][64][65]. In 2001, the first book in the context of compliant mechanisms appeared, in which the pseudo-rigid-body model was systematically introduced [1].…”

Section: Introductionmentioning

confidence: 99%

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Ling

Howell

Cao

et al. 2020

Applied Mechanics Reviews

165

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Flexure-based compliant mechanisms are becoming increasingly promising in precision engineering, robotics, and other applications due to the excellent advantages of no friction, no backlash, no wear, and minimal requirement of assembly. Because compliant mechanisms have inherent coupling of kinematic-mechanical behaviors with large deflections and/or complex serial-parallel configurations, the kinetostatic and dynamic analyses are challenging in comparison to their rigid-body counterparts. To address these challenges, a variety of techniques have been reported in a growing stream of publications. This paper surveys and compares the conceptual ideas, key advances, and applicable scopes, and open problems of the state-of-the-art kinetostatic and dynamic modeling methods for compliant mechanisms in terms of small and large deflections. Future challenges are discussed and new opportunities for extended study are highlighted as well. The presented review provides a guide on how to select suitable modeling approaches for those engaged in the field of compliant mechanisms.

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“…29 Li et al 30 designed a single-stage microgripper based on the principle of lever amplification to achieve displacement amplification, but it cannot achieve parallel gripping. Zhang et al 31 designed a two-stage microgripper based on the principle of lever amplification, which realized the parallel gripping of jaws. However, the structure was not compact enough.…”

Section: Introductionmentioning

confidence: 99%

Research on three-stage amplified compliant mechanism-based piezo-driven microgripper

Chen

Deng

et al. 2020

Advances in Mechanical Engineering

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The microgripper based on the principle of lever amplification is easy to realize; however, the theoretical amplification factor is limited by the space size and the structure is not compact enough. The microgripper based on the triangular amplification principle has a compact structure and high amplification factor, but it is not conducive to miniaturization design. Considering compactness, parallel clamping, high magnification, and miniaturization design, a three-stage amplifier consisting of a semi-rhombic amplifier and lever amplifiers is designed. To begin with, the theoretical amplification ratio and the relationship between input variables and output variables are calculated by energy method. Furthermore, the finite element analysis software is used to optimize the structural parameters and analyze the performance of the model. Lastly, the experimental verification is carried out. At 150 V of driving voltage, the maximum output displacement was 530mm, and the actual magnification was 24 times. Microparts can be gripped in parallel and stably, which confirms the validity of the design.

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Development of a monolithic compliant SPCA-driven micro-gripper

Cited by 49 publications

References 32 publications

Development and Hybrid Position/Force Control of a Dual-Drive Macro-Fiber-Composite Microgripper

Development and Hybrid Position/Force Control of a Dual-Drive Macro-Fiber-Composite Microgripper

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Research on three-stage amplified compliant mechanism-based piezo-driven microgripper

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