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

Transactions of the Japan Society of Mechanical Engineers. C Volume 62 Issue 597 Page 1773-1780
published_at 1996-05
2010010171.pdf
[fulltext] 523 KB
Title
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
Creator Keywords
mechanism gripper piezoceramic bimorph force sensor mathematical model minute force control
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.
Languages jpn
Resource Type journal article
Publishers 日本機械学会
Date Issued 1996-05
Rights
Copyright: 日本機械学会 (The Japan Society of Mechanical Engineers)()
File Version Version of Record
Access Rights open access
Relations
[ISSN]0387-5024
[NCID]AN00187463
[isVersionOf] [URI]http://www.jsme.or.jp/publish/ronbun/
Schools 大学院理工学研究科(工学)