Design and Control of a Piezoelectric-Driven Microgripper Perceiving Displacement and Gripping Force

Abstract

A piezoelectric-driven microgripper with three-stage amplification was designed, which is able to perceive the tip displacement and gripping force. The key structure parameters of the microgripper were determined by finite element optimization and its theoretical amplification ratio was derived. The tracking experiments of the tip displacement and gripping force were conducted with a PID controller. It is shown that the standard deviation of tracking error of the tip displacement is less than 0.2 μm and the gripping force is 0.35 mN under a closed-loop control. It would provide some references for realizing high-precision microassembly tasks with the designed microgripper which can control the displacement and gripping force accurately.

The Effect of Spool Displacement Control to the Flow Rate in the Piezoelectric Stack-Based Valve System Subjected to High Operating Temperature

“…A piezoelectric-driven microgripper with a three-stage amplification function to detect tip displacement and gripping force was proposed. The tip displacement and gripping force tracking experiment was performed with a PID controller [18]. A low-power, normally open piezoelectric microvalve was developed to replace conventional microvalve based on the polydimethylsiloxane featured by large peripheral connections that could decrease portability [19].…”

Cyber-Physical Systems for Micro-/Nano-assembly Operations: a Survey

“…On the Fig. 1 Premises of using Cyber-Physical Production Systems (CPPS) in micro-/nano-assembly operations, by the combination of physical (green) and computational (blue) resources other hand, in [31], a piezoelectric-driven micro-gripper is equipped with strain gauges capable of measuring either applied micro-forces or displacements by simulating its behaviour with finite elements methods. In [32], bimorph piezoelectric strips help in manipulation tasks, and force is measured by first characterizing the behaviour and the deflection of the tweezer's fingers.…”

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“…Although a PID is a classic tool, it is still a competitive continuous controller today [74]. The expression is divided in three parts: a proportional, an integral and a derivative; each term corresponds, respectively, to speed response, steady-state error reduction, and dynamics improvement [75]. Although there are several techniques for tuning, such as Ziegler-Nichols, as a conventional option, the method of min{I AE} was unified for both control strategies.…”