Microgripper with two-stage constant force output in continuous two strokes and control method

Abstract

The invention provides a microgripper with two-stage constant force output in continuous two strokes and a control method. The microgripper is of a flexible integrated structure, wherein a constant force mechanism is composed of four groups of bistable negative stiffness beams and a lever part. The principle of a two-stage constant force mechanism is that a two-stage negative stiffness curve is obtained through the parameter design of the four groups of bistable negative stiffness beams, then the lever part is connected in parallel to achieve positive stiffness compensation, and thus a continuous two-stage zero stiffness curve is obtained. The microgripper can output two stages of constant clamping force in two effective strokes. The microgripper has the advantages that multi-size adaptability is achieved, the volume is small, no friction is achieved, no assembly is achieved, and the motion sensitivity is high.

Description

technical field [0001] The invention relates to the technical field of micro-operation, in particular to a continuous two-stroke two-stage constant-force output micro-clamp and a control method. Background technique [0002] Micro-operation refers to the operation and processing of objects whose feature size is on the order of microns (1 μm to 1 mm). The main functions of the micro-operating system include micro-clamping, micro-injection, micro-manipulation, micro-machining, micro-assembly, etc., and are widely used in defense and civilian fields such as aerospace, biomedical engineering, nano-manufacturing, and precision optical instruments. The micro gripper is the key end effector of the micro manipulation technology. During the manipulation process, it needs to meet a specific range of stroke and clamping force at the same time, to ensure a certain degree of compliance, so as to avoid damage or loosening of the manipulated object. [0003] To realize the precise control...

AI Technical Summary

Problems solved by technology

The gripper can only achieve one level of constant force output within the effective stroke, it is difficult to adapt to multi-size micro-manipulation objects, and the stability of rotary clamping is poorer than that of parallel clamping

[0006] There are deficiencies in the development of the existing micro-clamps: first, the micro-clamps with integrated micro-force sensors have high cost, complex control, and poor adaptability to small batches and multi-size assembly objects; second, the compliance mechanism based on constant force output The research on microgrippers is not perfect, and it is difficult to meet the operation requirements of small batches and multi-size microassembly objects.

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