MRI Compatible Robot Gripper Using Large-Strain Piezoelectric Actuators(Mechanical Systems)

摘要

This paper proposes an MRI compatible robotic gripper using piezoelectric actuators with strain amplification mechanisms. The structure of the gripper is designed based on reverse action tweezers. This gripper utilizes the piezoelectric effect for sensing the force and the displacement. The physical properties of the gripper are calculated from elasticity of both actuator and gripper. The dimensions of the gripper are determined by taking the elastic properties of both the actuators and gripping mechanism into account. The performance of the assembled gripper was confirmed by CAE simulation and experiments. The sensing accuracy of the gripping force and the displacement of the tip of the developed gripper were evaluated through the experiments.