Development of a soft-handling gripper driven by a piezoceramic stack : 1st report, model analysis and minute force control

積層型圧電素子で駆動されるソフトハンドリング・グリッパ : 第1報, 解析モデル並びに微小把持力制御

Development of a soft-handling gripper driven by a piezoceramic stack : 1st report, model analysis and minute force control

Creators Jiang Zhongwei

Creators Chonan Seiji

Creators Sato Masayuki

This paper is a study on the development a soft handling two-fingered miniature gripper driven by a piezoceramic stack. The system is essensially a magnifying mechanism cut out of a monolith. It is composed of a piezoelectric actuator, a flecxible-hinged two-stage linkage and a force sensor attached at the tip of one of the fingers. A linkage that effectively transforms longitudinal expansion/contraction of the actuator into lateral fingertip motion is designed. Furthermore, a highly efficient compact force sensor is developed for measuring a minute force at the fingertip. The mathematical model of the electromechanical system is developed and applied to the study of a PID control problem where the gripper holds the object with a time-constant force 0.036 N.

Copyright: 日本機械学会 (The Japan Society of Mechanical Engineers)()

[ISSN]0387-5024

[NCID]AN00187463

[isVersionOf] [URI]http://www.jsme.or.jp/publish/ronbun/