韩江义, 游有鹏, 王化明, 朱剑英. 一种带力传感的微夹持器设计及试验[J]. 机器人, 2009, 31(1): 67-71.
引用本文: 韩江义, 游有鹏, 王化明, 朱剑英. 一种带力传感的微夹持器设计及试验[J]. 机器人, 2009, 31(1): 67-71.
HAN Jiang-yi, YOU You-peng, WANG Hua-ming, ZHU Jian-ying. Design and Experimentation of a Micro-gripper with Force Sensing[J]. ROBOT, 2009, 31(1): 67-71.
Citation: HAN Jiang-yi, YOU You-peng, WANG Hua-ming, ZHU Jian-ying. Design and Experimentation of a Micro-gripper with Force Sensing[J]. ROBOT, 2009, 31(1): 67-71.

一种带力传感的微夹持器设计及试验

Design and Experimentation of a Micro-gripper with Force Sensing

  • 摘要: 设计制作一种带力传感的微夹持器,通过压电陶瓷堆驱动和柔性铰链放大来实现夹持动作,由粘贴于悬臂应变梁的半导体应变片构成惠斯通电桥测量微夹持力.优化设计了柔性铰链的结构,对悬臂式应变梁进行了仿真分析.最后,制作并组装成微夹持器,进行了力传感标定试验和微夹持操作试验.制作和试验结果验证了这种带力传感的微夹持器的可行性和实用性.

     

    Abstract: A micro-gripper with force sensing is designed,and clamping motion is realized through piezoelectric ceramic stack actuation and flexible-hinge enlargement.Wheatstone bridge consisting of semiconductor strain-gauge stuck on the strain cantilever is used to measure the micro-clamping force.The structure of the flexible-hinge is optimized,and simulation analysis on the strain cantilever is carded out.Finally,the micro-gripper is fabricated and assembled,and calibration ex- periment of force sensing and micro-gripper operation experiment are carried out.Results from fabrication and experiments testify the feasibility and practicability of the presented micro-gripper with clamping force sensing.

     

/

返回文章
返回