Model and Study of Clamping Force for Micro-gripper with PZT-driven

Abstract

Micro-gripper is the key equipment in the micromanipulator field. Specially, the PZT-driven micro-gripper has been widely concerned by scientists. But it is the difficult to control the clamping force when the gripper is working under the micro/nano scale. So it requires models of the interaction forces and adhesion forces dedicated to this scale. This paper focuses on the studies of clamping force including the adhesion force, contact force and so on. The force model of the gripper will be established, and the process of the ”clip-hold-release” will be studied. The experimental results indicate that the gripping force are different for different materials.