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Open AccessArticle

A PZT Actuated Triple-Finger Gripper for Multi-Target Micromanipulation

Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology, Soochow University, Suzhou 215123, China
Author to whom correspondence should be addressed.
Academic Editors: Ulrich Schmid and Michael Schneider
Micromachines 2017, 8(2), 33;
Received: 25 November 2016 / Revised: 14 January 2017 / Accepted: 16 January 2017 / Published: 24 January 2017
(This article belongs to the Special Issue Piezoelectric MEMS)
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. View Full-Text
Keywords: micromanipulation; triple-finger; micro-gripper micromanipulation; triple-finger; micro-gripper
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MDPI and ACS Style

Chen, T.; Wang, Y.; Yang, Z.; Liu, H.; Liu, J.; Sun, L. A PZT Actuated Triple-Finger Gripper for Multi-Target Micromanipulation. Micromachines 2017, 8, 33.

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