Development and Hybrid Position/Force Control of a Dual-Drive Macro-Fiber-Composite Microgripper

摘要

This paper reports on the development, implementation and hybrid control of a new micro-fiber-composite microgripper with synchronous position and force control capabilities. In particular, the micro-fiber-composite actuator was composed of rectangular piezoelectric fibers covered by interdigitated electrodes and embedded in structural epoxy. Thus, the micro-fiber-composite microgripper had a larger displacement-volume ratio (i.e., the ratio of the output displacement to the volume of the microgripper) than that of a traditional piezoelectric one. Moreover, to regulate both the gripper position and the gripping force simultaneously, a hybrid position/force control scheme using fuzzy sliding mode control and the proportional-integral controller was developed. In particular, the fuzzy sliding mode control was used to achieve the precision position control under the influence of the system disturbances and uncertainties, and the proportional-integral controller was used to guarantee the force control accuracy of the microgripper. A series of experimental investigations was performed to verify the feasibility of the developed microgripper and the control scheme. The experimental results validated the effectiveness of the designed microgripper and hybrid control scheme. The developed microgripper was capable of precision and multiscale micromanipulation tasks.