Title :
The design of milli-grippers using piezoelectric actuator as well as electro-magnetic force
Author :
Sun, Linzhi ; Jianyu Chen ; Sun, Ping
Author_Institution :
Dept. of Precision Mech. Eng., Shanghai Univ., China
Abstract :
The authors describe their research aimed at promoting milli-mechanism technology. Several integrated mill-gripper prototypes have been made. In the first part of this paper, we present the design of a milli-gripper using a piezoelectric actuator and flexible hinge structure. The character of stacked piezoelectric actuator and the structure of milli-gripper is analyzed. The effect of the force charged on piezoelectric actuator is also considered. A new method is described for calculating the output of flexible hinge structure using piezoelectric actuator. In the second part, another milli-gripper prototype, using electro-magnetic force and a wedge-shaped mechanism, is presented
Keywords :
electromagnetic forces; flexible structures; force control; intelligent actuators; intelligent control; manipulator kinematics; microactuators; piezoelectric actuators; MEMS; PZT; PbZrO3TiO3; electromagnetic force; flexible hinge structure; grip force; milli-grippers; milli-mechanism technology; pair of claws; piezoelectric actuator; scissors-gripper; stacked PZT element; stacked actuator; wedge-shaped mechanism; Arm; Equations; Fasteners; Friction; Grippers; Humans; Low voltage; Piezoelectric actuators;
Conference_Titel :
Micro Machine and Human Science, 1995. MHS '95., Proceedings of the Sixth International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-2676-8
DOI :
10.1109/MHS.1995.494238
