Flexure Hinge Guided Motion Gripper with Force Sensor
A piezoelectric gripper with force sensor is presented for an optical precision manipulation.The gripper utilizes flexure hinge mechanisms with two-step amplification to achieve output displacement.Micro displacement amplification principle of the gripper is analyzed and verified using finite element analysis (FEA) soft.A force sensor of resistance strain type with elastic plate structure ofbi-cantilever is designed,which is fixed at the bottom of the gripper to detect force signals during the working process.The strain foils adopt a connecting method of full-bridge.According to theoretical analysis and FEA of the force sensor,bonding positions of the strain foils are determined.Experimental results indicate that the sensor has good linearity and little temperature drift and creep,and its resolution is less than 100mN.Micro-vision method is used to test the gripper,and maximum displacement is 302μm.
gripper force sensor flexure hinge finite element analysis
Li Ma Cixiong Xu Shasha Zhou Weibin Rong Lining Sun
Department of Precise Mechanical Engineering, Shanghai University, Shanghai, China; State Key Labora Department of Precise Mechanical Engineering, Shanghai University, Shanghai, China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
国际会议
台湾
英文
3299-3303
2011-12-11（万方平台首次上网日期，不代表论文的发表时间）