A new piezo-driven microgripper based on the double-rocker mechanism

Abstract

This paper reports the design and modelling of a new piezo-driven microgripper with large output displacements. The design of the microgripper is based on the double-rocker mechanism and the parallelogram mechanism. The microgripper can produce a large output displacement and a parallel movement of the gripper tips. Theoretical models for the microgripper are derived using the pseudorigid-body-model method. Through several finite-element analysis simulations, the optimal geometric parameters of the microgripper are obtained, and the theoretical models are evaluated and verified. The performance of the proposed microgripper is demonstrated by several experiments, and a micromanipulation case is presented. The experimental results indicate that the microgripper with the double-rocker mechanism has a large output displacement of 213.9 μm and a large amplification ratio of 21.4. The microgripper is capable of multiscale micromanipulation.