Expanding the gripping stroke is the key problem in the research of microgripper. Generally, the magnification of the multi-stage amplifier is larger than that of the single-stage amplifier, but the multi-stage amplifier has a certain inhibition effect on the single-stage amplifier. The effect of simply increasing the number of the amplification mechanism on increasing the magnification is lower. To solve the above problems, a two-degree-of-freedom large displacement stepwise microgripper from the perspective of multiple degrees of freedom is designed, which improves the gripping displacement and stability of the microgripper. The relationship between theoretical input variables and output variables is calculated based on pseudo-rigid-body method; the gripping performance of microgripper is analyzed by finite element analysis (FEA); The piezo-driven is used as the input drive of the microgripper, and the actual output displacement are 5.21 and 8.06% respectively compared with the theoretical and simulated output displacement, which proves the correctness of theoretical calculation and simulation analysis. Under the maximum driving voltage of 150 V, the maximum output displacement is 924 μm, which can grip micro-parts of arbitrary size and shape in the range of 0–1724 μm; the displacement amplification of microgripper is 23.1 times on one side, and the total amplification is 46.2 times. The validity of the design is verified by the successful parallel and stable grasping of micro-parts with various shapes.

扩大抓取行程是微型抓取器研究的关键问题。通常，多级放大器的放大倍率大于单级放大器，但是多级放大器对单级放大器具有一定的抑制作用。简单地增加放大机构的数目对放大率的影响较低。为了解决上述问题，从多自由度的角度出发，设计了一种两自由度大位移阶梯式微夹持器，提高了微夹持器的夹持位移和稳定性。理论输入变量和输出变量之间的关系是基于伪刚体方法计算的；通过有限元分析（FEA）分析微抓爪的抓握性能；压电驱动器作为微型夹具的输入驱动器，与理论和模拟输出位移相比，实际输出位移分别为5.21和8.06％，证明了理论计算和模拟分析的正确性。在最大驱动电压为150 V的情况下，最大输出位移为924μm，可以夹持0-1724μm范围内的任意尺寸和形状的微零件。微型夹具的位移放大倍数在一侧为23.1倍，总放大倍数为46.2倍。通过成功地平行稳定地抓取各种形状的微零件，验证了设计的有效性。理论输出和模拟输出位移分别为06％，证明了理论计算和仿真分析的正确性。在最大驱动电压为150 V的情况下，最大输出位移为924μm，可以夹持0-1724μm范围内的任意尺寸和形状的微零件。微型夹具的位移放大倍数在一侧为23.1倍，总放大倍数为46.2倍。通过成功地平行稳定地抓取各种形状的微零件，验证了设计的有效性。理论输出和模拟输出位移分别为06％，证明了理论计算和仿真分析的正确性。在最大驱动电压为150 V的情况下，最大输出位移为924μm，可以夹持0-1724μm范围内的任意尺寸和形状的微零件。微型夹具的位移放大倍数在一侧为23.1倍，总放大倍数为46.2倍。设计的有效性通过成功地平行并稳定地抓握各种形状的微零件而得到验证。微型夹具的位移放大倍数在一侧为23.1倍，总放大倍数为46.2倍。设计的有效性通过成功地平行并稳定地抓握各种形状的微零件而得到验证。微型夹具的位移放大倍数在一侧为23.1倍，总放大倍数为46.2倍。设计的有效性通过成功地平行并稳定地抓握各种形状的微零件而得到验证。