THREE-DEGREE-OF-FREEDOM FLEXIBLE HINGE MECHANISM-TYPE PIEZOELECTRIC MICRO-GRIPPER

摘要

A three-degree-of-freedom flexible hinge mechanism-type piezoelectric micro-gripper is disclosed in the present invention, which comprises a first gripper finger (44) and a second gripper finger (45), wherein a base (41) is provided at the tails of the first gripper finger (44) and the second gripper finger (45), a third flexible hinge (46) and a first right-angled link (42) are sequentially connected between the base (41) and the first gripper finger (44), a fourth flexible hinge (47) and a second right-angled link (43) are sequentially connected between the base (41) and the second gripper finger (45), and one or more x-direction drive units (3) are provided between the first right-angled link (42) and the second right-angled link (43), and are connected to the first right-angled link (42) via a first flexible hinge (48) and to the second right-angled link (43) via a second flexible hinge (49); and the micro-gripper further comprises a y-direction drive (2) unit acting on the base (41) and a z-direction drive unit (1) acting on the y-direction drive unit (2). The first gripper finger (44) and the second gripper finger (45) can not only produce micro-motions in the thickness and height directions of the gripper fingers, but can also produce a micro-motion in the length direction of the gripper fingers, thereby forming three degrees of freedom of micro-motions in the x, y, and z directions. In addition, the micro-gripper is not easily broken and has low manufacturing costs.