DocumentCode
2097839
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
fYear
2011
fDate
17-18 Sept. 2011
Firstpage
123
Lastpage
127
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Internet Computing & Information Services (ICICIS), 2011 International Conference on
Conference_Location
Hong Kong
Print_ISBN
978-1-4577-1561-7
Type
conf
DOI
10.1109/ICICIS.2011.37
Filename
6063209
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