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Sensors 2013, 13(5), 5826-5840; doi:10.3390/s130505826

Development of a Micro-Gripper Using Piezoelectric Bimorphs

1,2,* , 2
1 Department of Biomedical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia 2 Mechanical Engineering Department, Faculty of Engineering, Assiut University, Assiut 71516, Egypt 3 Electrical Engineering Department, Faculty of Engineering, Assiut University, Assiut 71516, Egypt
* Author to whom correspondence should be addressed.
Received: 4 March 2013 / Revised: 25 March 2013 / Accepted: 28 April 2013 / Published: 7 May 2013
(This article belongs to the Special Issue Piezoelectric Sensors and Actuators)


Piezoelectric bimorphs have been used as a micro-gripper in many applications, but the system might be complex and the response performance might not have been fully characterized. In this study the dynamic characteristics of bending piezoelectric bimorphs actuators were theoretically and experimentally investigated for micro-gripping applications in terms of deflection along the length, transient response, and frequency response with varying driving voltages and driving signals. In addition, the implementation of a parallel micro-gripper using bending piezoelectric bimorphs was presented. Both fingers were actuated separately to perform mini object handling. The bending piezoelectric bimorphs were fixed as cantilevers and individually driven using a high voltage amplifier and the bimorph deflection was measured using a non contact proximity sensor attached at the tip of one finger. The micro-gripper could perform precise micro-manipulation tasks and could handle objects down to 50 µm in size. This eliminates the need for external actuator extension of the microgripper as the grasping action was achieved directly with the piezoelectric bimorph, thus minimizing the weight and the complexity of the micro-gripper.
Keywords: piezoelectric actuator; bimorph piezoelectric actuator; bimorph
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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El-Sayed, A.M.; Abo-Ismail, A.; El-Melegy, M.T.; Hamzaid, N.A.; Osman, N.A.A. Development of a Micro-Gripper Using Piezoelectric Bimorphs. Sensors 2013, 13, 5826-5840.

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