Motion analysis of the microgripper.
Driving principle by means of the parasitic motion of the microgripper.
Driving process of the parasitic motion principle actuators. (a) There is a small initial gap δ between surfaces of the mover and surfaces of the grippers. The grasping motion Δx is filling this gap. (b) The grippers initially contact with the mover. (c) The mover moves along the y direction because of the frictional force f N and the parasitic motion Δy. (d) The mover has the maximum one-step-displacement S. (e) The driving voltage decreases quickly and the elastic body recovers to the initial state.
Model of the parasitic motion principle linear actuator.
Model of the designed microgripper.
Linkage model of the microgripper.
x direction grasping motion of the microgripper.
y direction parasitic motion of the microgripper.
The established experiment system. (a) consists of the main parts of the experiment system. (b) is the local enlarging graph of Fig. 10(a), showing the prototype and testing in detail.
Stepping characteristics with a ﬁxed driving frequency of 3 Hz and different driving voltages.
Stepping characteristics with a ﬁxed driving voltages of 100 V and different driving frequencies.
The practical sawtooth wave and the inserted driving step. (a) is the practical sawtooth wave with an inserted time process. (b) is the inserted driving step corresponding to the time from t 2 to T. During this time, backward motion appears.
The relationship between the maximum displacement S, the effective displacement S e, and the displacement S 0 of the backward motion.
Velocity versus (a) the driving voltage amplitude and (b) the driving frequency.
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