Title :
A Novel Piezoelectric Micro-gripper´s Control Study
Author :
Zeng, Xiangjin ; Huang, Xinhan
Author_Institution :
Hubei Province Key Lab. of Intell. Robot, Wuhan Inst. of Technol., Wuhan, China
Abstract :
In this paper, we develop a micro-gripper that actuated by piezoelectric cantilever for the need of micro parts assembly. The displacement-voltage relationship model is given. For hysteresis of piezoelectric ceramic, we present a mix control algorithm, which employs the hysteresis offset control model based on Dahl and PID control model. The results of micro-assembly prove that the model is efficiency.
Keywords :
cantilevers; grippers; hysteresis; microassembling; micromanipulators; piezoceramics; three-term control; Dahl model; PID control model; displacement-voltage relationship model; hysteresis offset control model; microgripper; microparts assembly; piezoelectric cantilever; piezoelectric ceramic; Ceramics; Feedforward neural networks; Grippers; Hysteresis; Mathematical model; Strain; Structural beams; Dahl model; cantilever modeling; hysteresis; micro gripper; micromanipunation;
Conference_Titel :
Internet Computing & Information Services (ICICIS), 2011 International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4577-1561-7
DOI :
10.1109/ICICIS.2011.37
