Design of a Stick-Slip Actuated Microgripper with a Large Motion Stroke

To obtain a millimeter scale operation stroke, this paper proposes a stick-slip actuated microgripper. The structure design process of the microgripper is presented where a T-shaped compliant mechanism composed of four leaftype compliant hinges is developed. In order to achieve large load capacity a...

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Bibliographic Details
Main Authors: Shi, Beichao, Huo, Zhichen, Wang, Fujun, Tian, Yanling, Liang, Cunman, Jing, Xiubing
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Deformation
Flexible mechanism
Force
Grasping
Grippers
Lead zirconate titanate
Manufacturing processes
Microgripper
Nanoscale devices
Simulation
Static analysis
Stick-slip actuation
Structure design
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Summary:To obtain a millimeter scale operation stroke, this paper proposes a stick-slip actuated microgripper. The structure design process of the microgripper is presented where a T-shaped compliant mechanism composed of four leaftype compliant hinges is developed. In order to achieve large load capacity and stepping actuating, longitudinal-shear piezoelectric (PZT) actuator is adopted, where the longitudinal motion is used to adjust the friction between the driving foot and the sliding part, while the shear PZT actuator is employed to actuate the two jaws open and close. Then, the actuating principle of the longitudinal-shear PZT actuator and the stickslip actuated microgripper is illustrated, which demonstrates how the microgripper achieve millimeter motion strokes. Finally, simulation analysis is carried out to investigate the performance of the developed microgripper. It can be seen from the results of static analysis that the maximum deformation of the weak stiffness object is 9.39 μm when a grasping force with the amplitude of 1 N is applied.
ISSN:2694-510X
DOI:10.1109/3M-NANO61605.2024.10769629