Design and development of a compliant piezoelectric microgripper based on three-stage amplification

Ni, Lei; Chen, Guoqiang; Hong, Kunpeng; Wang, Geng

doi:10.1007/s00542-023-05488-9

Cited by 6 publications

(2 citation statements)

References 30 publications

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“…Midha et al [17] analyzed the fixed-oriented compliant beam with an inflection point by utilizing the concept of a pseudo-rigid-body model and improved the calculation accuracy by setting the inflection point. Ni et al [18] established the kinematic, static, and dynamic models of the compliant piezoelectric micro-cracker based on the threestage amplification by using the pseudo-rigid-body model method. Wadikhaye et al [19] analyzed the input and output stiffness of the serial motion XYZ scanner by utilizing Castigliano's second theorem and estimated the first natural frequency and the travel range of the scanner using the input-output stiffness.…”

Section: Introductionmentioning

confidence: 99%

Compliance and Kinetostatics of a Novel 2PRS-2PSS Compliant Parallel Micromanipulator: Modeling and Analysis

Ren,

Jiang

2024

Micromachines

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A novel 2PRS-2PSS (P represents the prismatic pair, R represents the revolute hinge, S represents the spherical hinge) compliant parallel micromanipulator with two translational DOFs and two rotational DOFs is presented, and its compliance model and kinetostatic model are sequentially developed and analyzed. Initially, an analytical model used to describe the compliance of this micromanipulator was developed using the compliance matrix method (CMM). Through a comparison with finite element analysis, the accuracy of this analytical model is confirmed, and the influence of various dimensional and structural parameters on the compliance behavior is investigated. Subsequently, the micromanipulator is treated as an equivalent spring system, allowing for the derivation of its governing equation based on the established compliance model. From this equation, a kinetostatic model relating input forces to output displacements is derived. Validation of this model is performed by comparing analytical results with finite element simulations under specific motion trajectories, revealing a maximum relative error of 6.18%. This close agreement verifies the accuracy of the kinetostatic model. Finally, the impact of the parameters of the flexure hinge on the mapping matrix is examined to offer insights into minimizing undesired displacements, providing valuable guidance for optimizing the micromanipulator’s performance.

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Section: Introductionmentioning

confidence: 99%

Compliance and Kinetostatics of a Novel 2PRS-2PSS Compliant Parallel Micromanipulator: Modeling and Analysis

Ren,

Jiang

2024

Micromachines

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“…These mechanisms can amplify the input displacement and transfer motion in the required direction. The hybrid or compound amplifiers have been developed cascading several displacement transmission mechanisms and serve the purpose of magnifying piezoelectric actuator displacement as well as guide the output displacement in different direction [14,15]. To date, investigation on higher order or multi-stage displacement transmission mechanism based microgrippers are limited.…”

Section: Introductionmentioning

confidence: 99%

Design, computational analysis and experimental study of a high amplification piezoelectric actuated microgripper

Das,

Shirinzadeh

2024

Eng. Res. Express

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Increasing applications of compliant microgripper demands flexibility in working with a wide range of micro-objectswhich requires a large workspace, high precision motion, low parasitic motion, and satisfactory bandwidth control. Tomeet the requirement of pick and place manipulation tasks, a high amplification piezoelectric actuated microgripper isproposed and investigated in this paper. The high amplification of the microgripper is achieved using a compound amplifier.The compound amplifier is assisted to magnify the embedded piezoelectric actuator’s displacement. Two cascadedlever-type mechanisms are symmetrically connected with a bridge-type mechanism and form a three-stage amplificationmechanism-based compound amplifier. Further, the four-bar parallelogram mechanisms are integrated with the thirdstagedisplacement amplification mechanisms to linearize the output motion of the microgripper jaws. The characteristicsof the microgripper were evaluated by computational analysis and validated using experimental investigations. Further,the design parameters are identified from the geometrical model of the individual displacement transmission mechanismsto perform a response surface optimization on the configured mechanism by the computational method. The designoptimization of the microgripper resulted in a high displacement amplification ratio with a large workspace. The experimentalinvestigations show that the designed microgripper is capable of achieving a high displacement amplification ratioof 34.5 and a total output displacement of 529.4 μm. Further, the characteristics of the microgripper such as motionresolution, and parasitic motion indicate that it will be able to perform high-precision micro-object grasping/releasingtasks.

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A feedforward-feedback controller based on modified Prandtl–Ishlinskii model and submodel for tracking control the trajectories of piezoelectric actuator

Cheng,

Chen,

Tian

et al. 2024

Microsyst Technol

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Design and development of a compliant piezoelectric microgripper based on three-stage amplification

Cited by 6 publications

References 30 publications

Compliance and Kinetostatics of a Novel 2PRS-2PSS Compliant Parallel Micromanipulator: Modeling and Analysis

Compliance and Kinetostatics of a Novel 2PRS-2PSS Compliant Parallel Micromanipulator: Modeling and Analysis

Design, computational analysis and experimental study of a high amplification piezoelectric actuated microgripper

A feedforward-feedback controller based on modified Prandtl–Ishlinskii model and submodel for tracking control the trajectories of piezoelectric actuator

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