1. A PZT Actuated Triple-Finger Gripper for Multi-Target Micromanipulation
- Author
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Lining Sun, Zhan Yang, Liu Jinyong, Yaqiong Wang, Tao Chen, and Huicong Liu
- Subjects
Engineering ,lcsh:Mechanical engineering and machinery ,Acoustics ,Hinge ,02 engineering and technology ,01 natural sciences ,Article ,Displacement (vector) ,law.invention ,triple-finger ,Multi target ,law ,lcsh:TJ1-1570 ,Electrical and Electronic Engineering ,business.industry ,Mechanical Engineering ,010401 analytical chemistry ,Ranging ,Structural engineering ,micro-gripper ,021001 nanoscience & nanotechnology ,Robot end effector ,Finite element method ,0104 chemical sciences ,body regions ,Transducer ,Control and Systems Engineering ,SPHERES ,0210 nano-technology ,business ,micromanipulation - Abstract
This paper presents a triple-finger gripper driven by a piezoceramic (PZT) transducer for multi-target micromanipulation. The gripper consists of three fingers assembled on adjustable pedestals with flexible hinges for a large adjustable range. Each finger has a PZT actuator, an amplifying structure, and a changeable end effector. The moving trajectories of single and double fingers were calculated and finite element analyses were performed to verify the reliability of the structures. In the gripping experiment, various end effectors of the fingers such as tungsten probes and fibers were tested, and different micro-objects such as glass hollow spheres and iron spheres with diameters ranging from 10 to 800 μm were picked and released. The output resolution is 145 nm/V, and the driven displacement range of the gripper is 43.4 μm. The PZT actuated triple-finger gripper has superior adaptability, high efficiency, and a low cost.
- Published
- 2017
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