大行程无寄生位移柔性压电微夹钳结构设计

该文设计了一种两级放大的新型柔性微夹钳结构,对其位移放大比等特性进行了研究。首先,设计了微夹钳的整体结构,第一级放大机构采用杠杆机构,第二级采用半桥式放大机构。随后,利用刚度矩阵法对微夹钳柔性机构进行建模分析,并建立了平面三自由度的振动微分方程,根据所得方程计算出了微夹钳的位移放大比等特性。最后分别利用有限元和实验方法对模型分析得到的位移放大比进行了验证。结果表明,模型分析、有限元分析及实验的结果较吻合,证明了此微夹钳柔性机构以及建模方法的可行性和有效性。

Structural Design of Flexible Piezoelectric Micro gripper Without Parasitic Displacement in Large Stroke

In this paper, a new flexible microgripper structure with two stage amplification is designed, and its displacement amplification ratio is studied. Firstly, the overall structure of the micro gripper with two stage amplification is designed. The first stage amplifying mechanism adopts a lever mechanism, and the second stage adopts a half bridge amplification mechanism. Then, the stiffness matrix method is used to model and analyse the flexible mechanism of the micro gripper, and a vibration differential equation of the micro gripper with three degrees of freedom in the plane is established. Based on the obtained equation, the displacement amplification ratio of the micro gripper is calculated. Finally, the displacement amplification ratio obtained by the model is verified by the finite element method and the experimental method. The results show that the model analysis, finite element analysis and experimental results are in good agreement, which proves the feasibility and validity of the flexible micro gripper mechanism and the modelling method.