This book provides a measured collation of the state of the art of emerging techniques to design and development of flexible robotic microgrippers driven by piezoelectric actuators. It aims to cover mechanical designs of microgrippers with both simulation and experimental verifications. This book contains theoretical modeling, prototype fabrication, and extensive experimental investigations of piezo-driven microgrippers. It also incorporates the most emerging precision motion control techniques using reinforcement learning-based adaptive control. This book demonstrates combined mechanical design and motion control design of piezoelectric microgripper devices dedicated to micromanipulation application. This book is intended for undergraduate and graduate students who are interested in flexure-based compliant mechanisms, researchers investigating piezoelectric-actuated devices, and structure/control design engineers working on ultrahigh precision motion devices for micromanipulation applications.

Provides new mechanical designs of microgrippers with simulation and experimental verifications Presents new motion control of the microgripping systems for precision micromanipulation Contains theoretical modeling, prototype fabrication, and extensive experimental results

Autorentext

Dr. Qingsong Xu is Professor at the Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, and Director of the Smart and Micro/Nano Systems Laboratory. His research involves intelligent micro/nanosystems, precision robotics, and biomedical applications. He has published four books and over 400 papers in international journals and conferences, cited over 13000 times in Google Scholar with an H-index of 66. He currently serves as Associate Editor of IEEE T-RO. He was Technical Editor of IEEE/ASME T-MECH and Associate Editor of IEEE T-ASE and IEEE RA-L. Prof. Xu has received more than ten best paper awards from international conferences and multiple times of Macao Science and Technology Awards from Macao SAR, China. He has been selected into the top 2% of the world's top scientists released by Stanford University since 2019. He is Fellow of ASME.

Inhalt

Recent advances in piezoelectric driven compliant devices.- Recent development of piezoelectric actuated compliant microgrippers.- Design of a Compliant Gripper Based on the Scott Russell Mechanism.- Design Analysis and Testing of a Large Range Compliant Microgripper.- Design and Testing of a New Piezoelectric Actuated Symmetric Compliant Microgripper.