A continuous two-stroke two-stage constant force output micro gripper and its control method

Abstract

The invention provides a continuous two-stroke two-stage constant force output micro-clamp and a control method, the clamp belongs to a flexible integrated mechanism. Among them, the constant force mechanism is composed of four sets of bistable negative stiffness beams and lever parts. The principle of the two-stage constant force mechanism is to obtain two-stage negative stiffness curves through the parameter design of four sets of bistable negative-stiffness beams, and then connect the lever part in parallel to realize positive stiffness compensation, thereby obtaining continuous two-stage zero-stiffness curves. The micro gripper can output two stages of constant clamping force in two stages of effective travel respectively. The invention has the advantages of multi-size adaptability, small volume, no friction, no assembly, high motion sensitivity and the like.

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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