This paper presents a flexure-based piezoelectric actuated microgripper for high precision grasping/releasing tasks. The design of the microgripper consists of a three-stage amplification and transmission mechanism, and the parallel grasping technique. A bridge-type mechanism and two sequential lever-type mechanisms are symmetrically connected to amplify the output displacement of the embedded piezoelectric actuator. The parallelogram mechanisms assist in linearizing the output displacement of both jaws of the microgripper. The computational analysis is conducted to investigate the effect of the dimensional parameters on the characteristics of the microgripper. A computational parametric optimization methodology is established to achieve the required attributes of the microgripper. The design optimization resulted in a compact design, a high displacement amplification ratio, and a large output displacement of the microgripper. The experimental studies are conducted to investigate the key characteristics of the microgripper such as the displacement amplification ratio, the output displacement, tracking performance. Further, the parasitic motion, input-end and output-end motion resolution of the microgripper are identified. The experimental results indicate that the compact microgripper can achieve a high displacement amplification ratio and large output displacement with a high positioning accuracy.

本文提出了一种基于挠曲的压电致动微型抓取器，用于高精度抓取/释放任务。微型抓取器的设计包括三级放大和传输机制以及并行抓取技术。桥式机构和两个顺序杆式机构对称地连接以放大嵌入式压电致动器的输出位移。平行四边形机构有助于使微型夹具的两个钳口的输出位移线性化。进行了计算分析，以研究尺寸参数对微夹持器特性的影响。建立了计算参数优化方法，以实现所需的微抓手属性。通过优化设计，实现了紧凑的设计，位移放大比高，微夹持器的输出位移大。进行实验研究以研究微抓爪的关键特性，例如位移放大比，输出位移，跟踪性能。此外，还可以识别微抓爪的寄生运动，输入端和输出端的运动分辨率。实验结果表明，该紧凑型微型抓爪可以实现高位移放大比和大输出位移，定位精度高。识别微型夹具的寄生运动，输入端和输出端运动分辨率。实验结果表明，该紧凑型微型抓爪可以实现高位移放大比和大输出位移，定位精度高。识别微型夹具的寄生运动，输入端和输出端运动分辨率。实验结果表明，该紧凑型微型抓爪可以实现高位移放大比和大输出位移，定位精度高。