Design and optimization of a dual-axis PZT actuation gripper

In this paper, the design of a new compliant two-axis PZT actuated gripper is proposed based on flexure mechanisms. Its uniqueness is that both of the two gripper jaws can achieve two degree-of-freedom (DOF) movement. A lever structure is designed to meet the requirement of larger displacement due to the stroke limitation of the actuator. The gripper parameters are optimized by using genetic algorithm (GA) to achieve the highest natural frequency under the constraints imposed by the compact size and displacement over 20 μm. Both analytical computation and FEA simulation are conducted to verify the static and dynamic performances of the proposed design. Moreover, a prototype gripper is fabricated and assembled with laser displacement sensor for experimental testing. The concept of the design is confirmed by the experimental results.