论文信息 - Design andShape Deposition Manufacturing (SDM) Fabrication ofaPZT-actuated Toolfor Micromanipulatio n

Design andShape Deposition Manufacturing (SDM) Fabrication ofaPZT-actuated Toolfor Micromanipulatio n

In thispapera noveltoolfor micromanipulation ispresented. The devicehas been purposely designed for integration in smallmobile microrobots, aimedatperforming co-operative precision manipulation andassembly tasks. Concerning theactuation, multilayer piezoceramic components weredeveloped and employed. Theselected low-cost fabrication technique isShape Deposition Manufacturing (SDM), anddifferent alternatives havebeeninvestigated, inordertoselect theoptimal design. Several prototypes havebeenfabricated, andpreliminary experimental tests havebeenperformed, bothregarding the characterization andthegrasping capabilities.

Pietro Valdastri | Arianna Menciassi

[1] Cesare Stefanini,et al. A high force miniature gripper fabricated via shape deposition manufacturing , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[2] Mark R. Cutkosky,et al. Design by Composition for Layered Manufacturing , 2000 .

[3] Urban Simu,et al. Fabrication of monolithic piezoelectric drive units for a miniature robot , 2002 .

[4] P. Dario,et al. An Instrumented Probe for Mechanical Characterization of Soft Tissues , 2001 .

[5] Urban Simu,et al. Multilayer telescopic piezoactuator fabricated by a prototyping process based on milling , 2003 .

[6] Fritz B. Prinz,et al. Scalable rotary actuators with embedded shape memory alloys , 2001, SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.