微夹持器夹持力的测量和控制技术研究  

Research on measurement and control technologies of gripping force of microgrippers

作　　者：钟俊杰 崔良玉 韩建鑫[1,2] 胡高峰 崔华程 ZHONG Junjie;CUI Liangyu;HAN Jianxin;HU Gaofeng;CUI Huacheng(School of Mechanical Engineering,Tianjin University of Technology and Education,Tianjin 300222,China;Tianjin Key Laboratory of High Speed Cutting and Precision Machining,Tianjin University of Technology and Education,Tianjin 300222,China;School of Electrical and Electronic Engineering,Tianjin University of Technology and Education,Tianjin 300222,China)

机构地区：[1]天津职业技术师范大学机械工程学院,天津300222 [2]天津职业技术师范大学天津市高速切削与精密加工重点实验室,天津300222 [3]天津职业技术师范大学电子工程学院,天津300222

出　　处：《传感器与微系统》2025年第3期33-36,共4页Transducer and Microsystem Technologies

基　　金：天津市科技计划资助项目(20YDTPJC00640);天津市教委科研计划资助项目(2022ZD030)。

摘　　要：为实现微型器件的装配和操作,设计了一种微夹持器,最大行程224.62μm。通过位移和力的标定,分析夹持过程,得到力和位移的关系式。并建立Prandtl-Ishlinskii逆模型与系统级联,消除了系统的迟滞现象,实现输入输出线性化。实验结果验证了力—位关系正确性,夹持器最大夹持力3954.57 mN,夹持149.4μm厚铜片时最大夹持力1315.3 mN。该微夹持器具有重要的实际应用价值,为微操作系统的发展提供支持,为微操作技术领域提供新思路和方法。In order to realize the assembly and operation of micro-devices,a micro-gripper with a maximum stroke of 224.62μm is designed.Through the calibration of displacement and force,the relational expression between force and displacement is obtained by analyzing the clamping process.And the Prandtl-Ishlinskii inverse model is established to cascade with the system,which eliminates the hysteresis of the system and realizes the linear relationship between input and output.Experimental result verifies the correctness of the force-position relationship.The maximum clamping force of the clamp is 3954.57 mN,and the maximum clamping force for clamping a 149.4μm thick copper sheet is 1315.3 mN.The micro-gripper has important practical application value,provides support for the development of micro-operating systems,and provides new ideas and methods for the field of micro-manipulation technology.

关 键 词：微夹持器 压电驱动器 Prandtl-ishlinskii模型 微位移 夹持力 

分 类 号：TH112[机械工程—机械设计及理论]