一种集成微力检测的压电式微夹钳

A Micro-force Sensing Integrated Piezoelectric Microgripper

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．

Abstract: 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.