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A novel driving principle by means of the parasitic motion of the microgripper and its preliminary application in the design of the linear actuator
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10.1063/1.4711869
/content/aip/journal/rsi/83/5/10.1063/1.4711869
http://aip.metastore.ingenta.com/content/aip/journal/rsi/83/5/10.1063/1.4711869
View: Figures

Figures

Image of FIG. 1.
FIG. 1.

Motion analysis of the microgripper.

Image of FIG. 2.
FIG. 2.

Driving principle by means of the parasitic motion of the microgripper.

Image of FIG. 3.
FIG. 3.

Driving wave.

Image of FIG. 4.
FIG. 4.

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.

Image of FIG. 5.
FIG. 5.

Model of the parasitic motion principle linear actuator.

Image of FIG. 6.
FIG. 6.

Model of the designed microgripper.

Image of FIG. 7.
FIG. 7.

Linkage model of the microgripper.

Image of FIG. 8.
FIG. 8.

x direction grasping motion of the microgripper.

Image of FIG. 9.
FIG. 9.

y direction parasitic motion of the microgripper.

Image of FIG. 10.
FIG. 10.

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.

Image of FIG. 11.
FIG. 11.

Stepping characteristics with a fixed driving frequency of 3 Hz and different driving voltages.

Image of FIG. 12.
FIG. 12.

Stepping characteristics with a fixed driving voltages of 100 V and different driving frequencies.

Image of FIG. 13.
FIG. 13.

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.

Image of FIG. 14.
FIG. 14.

The relationship between the maximum displacement S, the effective displacement S e, and the displacement S 0 of the backward motion.

Image of FIG. 15.
FIG. 15.

Velocity versus (a) the driving voltage amplitude and (b) the driving frequency.

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/content/aip/journal/rsi/83/5/10.1063/1.4711869
2012-05-04
2014-04-19
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752b84549af89a08dbdd7fdb8b9568b5 journal.articlezxybnytfddd
Scitation: A novel driving principle by means of the parasitic motion of the microgripper and its preliminary application in the design of the linear actuator
http://aip.metastore.ingenta.com/content/aip/journal/rsi/83/5/10.1063/1.4711869
10.1063/1.4711869
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