A Detection Mechanism of Clamping Force based on Spatial Micro-gripper

Jianyang Cai ； Shumiao Ouyang ； Bin Liu

《International Core Journal of Engineering》 8卷2期 (2022/02) Pp. 19-24

https://doi.org/10.6919/ICJE.202202_8(2).0004

摘要

A new type of spatial micro-gripper is designed. In order to avoid the spatial micro-gripper from causing damage or falling off during the clamping of small objects, it is required to predict and control the clamping force, A clamping force detection mechanism based on spatial micro-gripper is proposed, the detection mechanism includes: 3 identical clamping branches used to perform micro-clamping operations, a piezoelectric ceramic stack for inputting micro-displacement, piezoelectric driver for driving piezoelectric ceramic stack, resistance strain gage for receiving deformation signal of the cantilever beam of the clamping branch, transmission circuit and data processor, controller for controlling the input voltage value of the piezoelectric driver, and install the disk holding the branch chain. When the spatial micro-gripper is clamping the object, the clamping branch chain cantilever beam deforms, and the resistance strain gage on it receives the relevant deformation signal, and transmits it to the data processor for processing through the transmission circuit, so as to realize the detection of clamping force. The controller can control the size of the clamping force, so as to avoid damage to the clamping object by the micro-gripper during micro-operation. The proposed design methods provide a new idea for the design of micro-grippers.

關鍵字

Spatial Micro Gripper ； Resistance Strain Gage ； Force Sensing ； Gripping Force

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