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Design and Control of a Piezoelectric-Driven Microgripper Perceiving Displacement and Gripping Force

1
The College of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo 454003, China
2
Exquisite Automotive Systems Company Limited Exquisite Stamping and Welding Branch Company, Baoding 071000, China
*
Author to whom correspondence should be addressed.
Micromachines 2020, 11(2), 121; https://doi.org/10.3390/mi11020121
Received: 18 December 2019 / Revised: 12 January 2020 / Accepted: 15 January 2020 / Published: 21 January 2020
A piezoelectric-driven microgripper with three-stage amplification was designed, which is able to perceive the tip displacement and gripping force. The key structure parameters of the microgripper were determined by finite element optimization and its theoretical amplification ratio was derived. The tracking experiments of the tip displacement and gripping force were conducted with a PID controller. It is shown that the standard deviation of tracking error of the tip displacement is less than 0.2 μm and the gripping force is 0.35 mN under a closed-loop control. It would provide some references for realizing high-precision microassembly tasks with the designed microgripper which can control the displacement and gripping force accurately. View Full-Text
Keywords: microassembly; microgripper; PID controller; tip displacement; gripping force microassembly; microgripper; PID controller; tip displacement; gripping force
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MDPI and ACS Style

Zhao, Y.; Huang, X.; Liu, Y.; Wang, G.; Hong, K. Design and Control of a Piezoelectric-Driven Microgripper Perceiving Displacement and Gripping Force. Micromachines 2020, 11, 121.

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