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This chapter presents a piezoelectrically actuated compliant microgripper designed to enhance both static and dynamic performance. The design combines a bridge mechanism, an L-shaped mechanism, and a levered parallelogram to achieve large gripping motion. Structural parameters were optimized using response surface methodology. Finite element analysis and experimental testing demonstrated a gripping stroke of 312.8 \(\upmu \) m, a natural frequency of 786 Hz, and resolutions of ±0.6 \(\upmu \) m (motion) and ±1.69 mN (force). The microgripper successfully manipulated a 200 \(\upmu \) m optical fiber and 100 \(\upmu \) m metal sheet using position and force control, confirming its practical capability for micromanipulation tasks.

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Design of a Piezoelectric-Actuated Symmetric Compliant Microgripper

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  • 发表日期：

    2026年

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  • Qingsong Xu

摘要

This chapter presents a piezoelectrically actuated compliant microgripper designed to enhance both static and dynamic performance. The design combines a bridge mechanism, an L-shaped mechanism, and a levered parallelogram to achieve large gripping motion. Structural parameters were optimized using response surface methodology. Finite element analysis and experimental testing demonstrated a gripping stroke of 312.8 \(\upmu \) m, a natural frequency of 786 Hz, and resolutions of ±0.6 \(\upmu \) m (motion) and ±1.69 mN (force). The microgripper successfully manipulated a 200 \(\upmu \) m optical fiber and 100 \(\upmu \) m metal sheet using position and force control, confirming its practical capability for micromanipulation tasks.