압전 액츄에이터를 이용한 Milli-Gripper의 동적 특성에 관한 연구

A Study on Dynamic Characteristics of Milli-Gripper using Piezoelectric Actuator

In this paper, a design of milli-gripper using piezoelectric actuator and flexible hinge structure has been suggested, and the dynamic characteristics of the milli-gripper has been analysed and improved. The milli-gripper consists of the operating and amplifier parts, and the perfomance of the gripper be heavily influenced by base excitation disturbances. The dynamic characteristics of milli-gripper has been measured by the FRF based on experimental modal analysis. It has been found by a series of experiments that the performance of the milli gripper using PID control is made a remarkable improvement in terms of gripping forces.