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. ROBOT, 2009, 31(1): 67-71..
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.
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