并联三钳指柔性压电微夹钳的设计与分析

Design and analysis of parallel three fingers flexible micro-gripper

为增大柔性微夹钳可操作物体的范围、增加操作过程中的稳定性、降低对可操作物体的损伤、消除垂直于输出位移方向的耦合位移,基于二级杠杆位移放大机构、桥式位移放大机构、位移导向机构,设计了一种单压电执行器驱动并联三钳指的柔性微夹钳。首先,描述了并联三钳指微夹钳的结构特征与工作原理;然后,根据微夹钳的柔性特征构建其输出位移放大倍率、输入刚度、固有频率的数学模型,并得出理论数值;最后,利用Ansys对其静动态特性进行仿真分析,仿真值与解析值具有较高的吻合度,验证了并联三钳指结构的可行性与所建数学模型的正确性。

In order to increase the range of the operable object of the micro-gripper,increase the stability in the operation process,reduce the damage to the operable object and eliminate the coupling displacement perpendicular to the output displacement direction,a flexible micro-gripper with three parallel fingers driven by a single piezoelectric actuator is designed based on the two-stage lever displacement amplification mechanism,bridge displacement amplification mechanism and displacement guiding mechanism.Firstly,the structural characteristics and working principle of parallel three finger micro-gripper are described.Then,according to the flexibility characteristics of the micro-gripper,the mathematical models of its output displacement magnification,input stiffness and natural frequency are constructed,and the theoretical values are obtained.Finally,the static and dynamic characteristics are simulated and analyzed by Ansys.The simulation values are in good agreement with the analytical values,which verifies the feasibility of the parallel three finger clamp structure and the correctness of the mathematical model.