摘要
针对微装配任务设计了一种双悬臂梁结构的压电双晶片微夹钳,该微夹钳由两个压电双晶片驱动.建立了压电双晶片的复合梁模型,并对它的微位移—电压特性、夹持力—应变特性进行了数学分析.通过检测悬臂梁根部的应变信号实现对微夹钳夹持力的检测.实验证明该微夹钳工作可靠,能够满足微装配机器人装配任务的要求.
A microgripper with the structure of dual cantilevers is designed to meet the task of microassembly, and the microgripper is driven by two piezoelectric bimorphs. We model the piezoelectric bimorph and get the displacement-voltage relationship and force-strain relationship theoretically. The gripper can sense the gripping force according to the strain at the base of the piezoelectric bimorph. The experiments indicate that the gripper can work reliably and safely, and can satisfy the needs of microassembly tasks.
出处
《机器人》
EI
CSCD
北大核心
2006年第1期59-64,共6页
Robot
基金
国家863计划804主题资助项目(2004AA844120)
关键词
压电双晶片
微夹钳
微力检测
微装配机器人
piezoelectric bimorph
microgripper
micro-force sensing
microassembly robot
