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

バイモルフ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 bimorph piezoactuators : 1st report, model analysis and minute force control

Creators Jiang Zhongwei

Creators Chonan Seiji

Creators Koseki Mituru

This paper is a study on the minute grasping force control of a two-fingered miniature gripper driven by piezoelectric bimorph cells. The system is composed of two flexible fingers and a compact force sensor attached to the tip of one finger. Control action is implemented by two piezoelectric bimorph strips placed at the base of each finger. The theoretical model of the electromechanical system is developed and applied to the study of control problem where the gripper is commanded to grasp its object with a constant force 0.01 N at a prescribed fingertip position. The PID control algorithm is introduced to drive the gripper. The system control behaviour is examined both theoretically and experimentally.

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/