A Micro-force Sensing Integrated Piezoelectric Microgripper

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.