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Design and development of a novel piezoelectrically actuated asymmetrical flexible microgripper
Lyu, Zekui; Wu, Zehao; Xu, Qingsong
2022-02-04
Source PublicationMechanism and Machine Theory
ISSN0094-114X
Volume171
Abstract

This paper presents the design, modeling, optimization, simulation, and experimental study of a new asymmetric flexible microgripper driven by a piezoelectric actuator. By comparing the asymmetric microgripper with the corresponding symmetric one, new guideline is introduced to design the gripper mechanism. The uniqueness of the gripper lies in consistent working mode and first resonant mode shapes without the dense mode of resonance. The proposed asymmetric gripper is composed of a three-stage flexure amplification mechanism, which can achieve friction-free and clearance-free displacement amplification. The gripper adopts the separate design of driving arm and sensing arm to avoid possible interference between them. The key geometric parameters affecting the performance of the flexure hinge are selected and optimized. By resorting to the pseudo-rigid body model, the kinematic, static, and dynamic models of the asymmetric gripper are derived. The working stroke, clamping force, and resonant frequency of the designed monolithic gripper are verified by conducting both simulations and experiments. A variety of experiments on the successful gripping of micro-objects of different sizes and shapes demonstrate its promising use in practical micromanipulation and microassembly applications.

KeywordAsymmetric Gripper Compliant Mechanism Flexure Mechanism Microgripper Micromanipulation Symmetric Gripper
DOI10.1016/j.mechmachtheory.2022.104736
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaEngineering
WOS SubjectEngineering, Mechanical
WOS IDWOS:000819916800005
Scopus ID2-s2.0-85124046349
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Cited Times [WOS]:3   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Corresponding AuthorXu, Qingsong
AffiliationDepartment of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, China
First Author AffilicationFaculty of Science and Technology
Corresponding Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Lyu, Zekui,Wu, Zehao,Xu, Qingsong. Design and development of a novel piezoelectrically actuated asymmetrical flexible microgripper[J]. Mechanism and Machine Theory,2022,171.
APA Lyu, Zekui,Wu, Zehao,&Xu, Qingsong.(2022).Design and development of a novel piezoelectrically actuated asymmetrical flexible microgripper.Mechanism and Machine Theory,171.
MLA Lyu, Zekui,et al."Design and development of a novel piezoelectrically actuated asymmetrical flexible microgripper".Mechanism and Machine Theory 171(2022).
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