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The design and control of a novel piezoelectric actuated compliant microgripper is studied in this paper to achieve fast, precise, and robust micro grasping operations. First, the microgripper mechanism was designed to get a large jaw motion stroke. A three-stage flexure-based amplification composed of the homothetic bridge and leverage mechanisms was developed and the key structure parameters were...
This paper presents the design and characteristic analysis of a novel piezoelectric actuated microgripper to achieve fast and precision micro-object handling. The microgripper mechanism was firstly introduced, and a two-stage flexure-based amplification, composed of a homothetic bridge type mechanism and a parallelogram leverage mechanism, was designed to obtain a large jaw motion stroke. The kinematic,...
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