TY - JOUR
T1 - Meso-Scale piezoelectric gripper with high dexterity
AU - Tuncdemir, Safakcan
AU - Ural, Seyit O.
AU - Uchino, Kenji
PY - 2009/4
Y1 - 2009/4
N2 - Design, fabrication and testing of a piezoelectrically actuated meso-scale dexterous gripper are reported. The gripper utilizes a piezoelectric ringmorph, which is excited by means of quarterly separated electrodes yielding 3 degree of freedom (3-dof) motion. Utilizing a specially designed arm, the 3-dof ringmorph actuation is transformed into a gripper motion bearing high dexterity. The combination of inand out-of-plane motion unique to the gripper generates the herein explained sliding grip release, which improves the pick-and-place performance by avoiding sticking of the substrate. The 27 × 20 × 7mm3 gripper can generate 300mg gripping force while it has 110 μm out-of-plane and 30 μm in-plane no-load maximum stroke at ±100V DC. The characterization of the device, including hysteresis and transient response are implemented as a function of loading condition and change in field intensity. The experimental results and sample pick-and-place tests have shown prominent force, stroke and frequency bandwidth of the gripper with a novel releasing method.
AB - Design, fabrication and testing of a piezoelectrically actuated meso-scale dexterous gripper are reported. The gripper utilizes a piezoelectric ringmorph, which is excited by means of quarterly separated electrodes yielding 3 degree of freedom (3-dof) motion. Utilizing a specially designed arm, the 3-dof ringmorph actuation is transformed into a gripper motion bearing high dexterity. The combination of inand out-of-plane motion unique to the gripper generates the herein explained sliding grip release, which improves the pick-and-place performance by avoiding sticking of the substrate. The 27 × 20 × 7mm3 gripper can generate 300mg gripping force while it has 110 μm out-of-plane and 30 μm in-plane no-load maximum stroke at ±100V DC. The characterization of the device, including hysteresis and transient response are implemented as a function of loading condition and change in field intensity. The experimental results and sample pick-and-place tests have shown prominent force, stroke and frequency bandwidth of the gripper with a novel releasing method.
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U2 - 10.1143/JJAP.48.044501
DO - 10.1143/JJAP.48.044501
M3 - Article
AN - SCOPUS:67849103653
SN - 0021-4922
VL - 48
JO - Japanese Journal of Applied Physics
JF - Japanese Journal of Applied Physics
IS - 4
M1 - 044501
ER -