Dynamic Modeling of a Piezoelectric Microgripper

摘要

Microgripper is one of the key elements in microrobotics and microassembly technologies for handling and manipulating micro objects, such as, micro mechanical parts, electrical components, biological cells, micro materials etc. In these applications, the requirements are large opening displacement and large output forces, along with ease in manufacture and batch fabrication. This paper describes the working principle and the design procedure of a flexure-hinge based compliant two-fingered gripper actuated by two linear piezoelectric stack actuators. A kinematic mechanism model of the microgripper is proposed and a dynamic model based on Euler-Lagrangian approach is developed considering the system as combination of mass-spring-damper. The mathematical model is then simulated using MATLAB/SIMULINK. Based on the SIMULINK model developed, a PID controller is designed for precise position and gripping force control.