Abstract:

The compliant microgrippers are directly contacted with the gripper in the microoperation field and during microassembly.And as the end microactuator in the micro?operation and micro?assembly system,it plays an important role in realizing micro?operation and micro?assembly tasks.A flexible microgripper mechanism based on straight circular flexure hinge and reed isosceles trapezoidal flexure hinge was studied in this paper.The displacement amplification and parallel displacement of gripper displacement were realized by piezoelectric ceramic driving.The mechanical pseudo?rigid body model of the flexible microgripper was established, and the kinematics model was established by using the pseudo?rigid body model method.Furthermore, the displacement amplification factor was calculated, and the relationship among the input force, input displacement and output displacement was obtained.The finite element method was used to simulate and verify the model.The results show that the prediction of theoretical values is consistent with the simulation results.

Key words: Microgripper, Structure design, Isosceles trapezoidal flexure hinge, Pseudo?rigid body model, Performance analysis

摘要：

柔顺微夹钳在微操作领域和微装配过程中与被夹持物直接接触，作为微操作和微装配系统中的末端微执行器，对实现微操作和微装配任务起重要的作用。设计一种基于直圆柔性铰链和簧片型等腰梯形柔性铰链的柔顺微夹钳机构，通过理论计算推导出等腰梯形柔性铰链的转动精度和转动刚度。采用压电陶瓷驱动方式，实现了位移的放大和夹爪位移的平行移动。建立了柔顺微夹钳的机械伪刚体模型，并利用伪刚体模型法建立了运动学模型，计算出位移放大倍数，得到了输入力、输入位移与输出位移的关系。通过有限元方法对系统建立的模型进行了仿真分析验证，结果表明理论计算结果与仿真结果一致。

关键词: 微夹钳, 结构设计, 等腰梯形柔性铰链, 伪刚体模型, 性能分析