Smooth Displacement/Force Switching Control of a Piezoelectric Actuated Microgripper for Micro Manipulation

This paper presents a displacement/force switching control of a piezoelectrically actuated microgripper for micro manipulation. The jaw’s output displacement and the grasping force are regulated by PI controller. The stable and smooth switching between two consecutive phases is achieved by adding the final voltage value in previous phase to that of next phase. A copper wire with the diameter of 80 μm is used to carry out experiments to evaluate the performance of the microgripper system. The left jaw can grasp the copper wire with a velocity of 100 μm/s, and the steady state error of grasping force is ±1 mN. The experiment results confirm that the microgripper can achieve high speed and high precision manipulation under the action of the switching controller.

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