Stability Analysis of Piezoelectric Actuator based Micro Gripper for Robotic Micro Assembly

摘要

Piezoelectric actuator can be used for handling and grasping of miniature parts by developing a micro gripper in micro manipulation system or robotic assembly where study of stable displacement and force characteristics with voltage signal are important. In order to obtain these behaviors using voltage signal, electromechanical characterization of piezo actuator is required for developing a micro gripper. In this paper, a stability analysis is carried out by establishing equivalent behavior using combination of two piezo ceramic layers and one resistive layer between them where we are applying a voltage signal (±60V) through a proportional-integral-derivative (PID) controller. By conducting experiments, it is verified that the piezo actuator attains stable behavior by adjusting gains which produces the maximum deflection upto 1.5 mm. The maximum force generation capability is upto 0.203 N by applying a voltage range of ±60V. A piezo actuator based micro gripper is developed for handling and grasping of the miniature parts.