Constant-force-adjustable multi-freedom-degree flexible micro-gripper

Abstract

The invention provides a constant-force-adjustable multi-freedom-degree flexible micro-gripper. The constant-force-adjustable multi-freedom-degree flexible micro-gripper comprises a micro-gripping unit; the micro-gripping unit comprises a gripping component and a freedom degree regulating component; the gripping component is installed on the freedom degree regulating component and can move in theup-down direction, the left-right direction and the front-back direction under the driving of the freedom degree regulating component; the gripping component is connected with the freedom degree regulating component through a connecting block; the freedom degree regulating component is fixed to an abnormal-surface pedestal through a substrate, and thus the freedom degree regulating component moving in different directions is different in installation directions on the abnormal-surface pedestal. The constant-force-adjustable multi-freedom-degree flexible micro-gripper provided by the inventionrealizes constant-force output and constant-force adjustability of the micro-gripping unit, and simultaneously makes the gripper have a plurality of freedom degrees. The constant-force-adjustable multi-freedom-degree flexible micro-gripper provided by the invention is small in structure weight, convenient to operate and applicable to a micro-operation robot system and a micro-electromechanical system.

Description

Technical field [0001] The present invention relates to micro holders. Background technique [0002] As a key component connecting the macro system and the micro system, the micro gripper plays a vital role in the field of micro manipulation and micro assembly technology. The micro gripper is used to realize the micro manipulation tasks such as clamping, holding and releasing. , Such as the movement and arrangement of cells, assembly of small parts, and fiber optic docking. [0003] Compared with shape memory alloy drive, vacuum drive, electrostatic comb drive, thermal drive and electromagnetic drive, piezoelectric drive has the advantages of high resolution, large driving force, fast response speed and good dynamic characteristics, and is widely used in Various high-precision micro-grippers. On the other hand, for many micro-manipulation tasks and micro-assembly tasks, the manipulated objects are often irregular in shape, ranging from micrometers to millimeters in size. When us...

AI Technical Summary

Problems solved by technology

At the same time, the end of the micro-gripper is often output by rotation or approximately translational output through a unilateral parallelogram mechanism, and the translational effect is also limited.

The detection of the clamping force at the end of the micro-gripper is also done by pasting a single strain gauge on the root of the flexible clamping arm at the end, which will further intensify the deflection of the manipulated object during detection

In addition, the current micro grippers usually cannot output constant force, let alone change the constant force to output another constant force; existing micro grippers usually have one or two degrees of freedom, and when gripping the object to be manipulated, the operation not flexible enough

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