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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design and Control of a Compliant Microgripper With a Large Amplification Ratio for High-Speed Micro Manipulation
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Design and Control of a Compliant Microgripper With a Large Amplification Ratio for High-Speed Micro Manipulation

机译：高速微操纵的大放大倍数柔顺式抓爪的设计与控制

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摘要

The design and control of a novel piezoelectric actuated compliant microgripper is studied in this paper to achieve fast, precise, and robust micro grasping operations. First, the microgripper mechanism was designed to get a large jaw motion stroke. A three-stage flexure-based amplification composed of the homothetic bridge and leverage mechanisms was developed and the key structure parameters were optimized. The microgripper was manufactured using the wire electro discharge machining technique. Finite element analysis and experimental tests were carried out to examine the performance of the microgripper mechanism. The results show that the developed microgripper has a large amplification factor of 22.6. Dynamic modeling was conducted using experimental system identification, and the displacement and force transfer functions were obtained. The position/force switching control strategy was utilized to realize both precision position tracking and force regulation. The controller composed of an incremental proportional-integral-derivative control and a discrete sliding mode control with exponential reaching law was designed based on the dynamic models. Experiments were performed to investigate the control performance during micro grasping process, and the results show that the developed compliant microgripper exhibits good performance, and fast and robust grasping operations can be realized using the developed microgripper and controller.
机译：本文研究了一种新型压电致动顺应性微型抓取器的设计和控制，以实现快速，精确和鲁棒的微型抓取操作。首先，设计了微型抓爪机构，以实现较大的下巴运动行程。提出了一种基于三段式挠曲的放大方法，该方法由相似的桥和杠杆机制组成，并优化了关键结构参数。微型夹具是使用电火花线切割加工技术制造的。进行了有限元分析和实验测试，以检验微夹持器机构的性能。结果表明，开发的微抓手具有22.6的大放大倍数。使用实验系统识别进行了动态建模，并获得了位移和力传递函数。位置/力切换控制策略用于实现精确的位置跟踪和力调节。基于动态模型，设计了由增量比例-积分-微分控制和具有指数到达律的离散滑模控制组成的控制器。通过实验研究了微抓握过程中的控制性能，结果表明，所开发的顺应性微抓具表现出良好的性能，并且使用所开发的微抓具和控制器可以实现快速而鲁棒的抓握操作。

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