Microgripper with claws of fiber Bragg gratings and gripping force self-sensing function

Abstract

The invention relates to a microgripper with jaws of fiber Bragg gratings and a gripping force self-sensing function and is intended to solve the problem that jaws of a microgripper of the prior art cannot provide component gripping and gripping force self-sensing at the same time. The microgripper comprises: a base, a single-sheet flexible mechanism fixed to the base, an actuator mounted in a cavity in the single-sheet flexible mechanism, an FBG (fiber Bragg grating) demodulator, and a controller connected with the actuator and the FBG demodulator. The single-sheet flexible mechanism includes: a displacement amplifying mechanism; an input stage of the displacement amplifying mechanism is abutted to the actuator; two output stages of the displacement amplifying mechanism are connected withtwo jaws respectively. The microgripper also includes one or two first fiber Bragg gratings each corresponding to one jaw; each first fiber Bragg grating includes a clamping portion for forming the jaws and a clamping force sensing portion for sensing deformation which occurs when the jaws clamp a part to be clamped; the first fiber Bragg gratings are connected with the FBG demodulator.

Description

technical field [0001] The invention relates to the fields of micro-operation and micro-assembly, in particular to a micro-clamp with clamping jaws that are fiber Bragg gratings and capable of clamping force self-sensing. Background technique [0002] With the rapid development of micro-electro-mechanical systems (Micro-Electro-Mechanical System, MEMS), coupled with the fact that traditional MEMS manufacturing processes cannot produce tiny parts with complex three-dimensional geometric structures and composed of different materials, micro-assembly and micro-operation technologies have emerged. pivotal role. Micro grippers are the end effectors of micro-assembly systems and micro-operating systems. They are in direct contact with the manipulated objects and play a decisive role in the completion of micro-assembly and micro-operation tasks. They are widely used in biomedicine, electronics manufacturing, and aerospace. and military fields. [0003] Commonly used micro clamp d...

AI Technical Summary

Problems solved by technology

[0006] The object of the present invention is to provide a kind of micro-clamp with fiber Bragg grating and self-sensing clamping force, so as to solve the problem that the clamping jaws of the micro-clamp in the prior art cannot realize clamping parts and clamping force at the same time The problem of self-sensing

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