中文摘要：

为保证压电双晶片微夹钳能稳定且安全无损地夹持零件，提出一种基于等效弹性模量的压电双晶片微夹钳夹持力检测方法。依据等效弹性模量理论提出夹持力计算模型，提出夹持力检测方法，通过先行实验测定所选压电双晶片的等效弹性模量等少量参数来计算夹持力，以自行研发的宏微结合压电双晶片微夹钳为对象进行夹持力检测实验。实验结果表明，该方法具有良好的夹持力检测精度。

英文摘要：

In order to grip miniature parts stably and safely by piezoelectric bimorph micro-grippers, a gripping force measurement method for piezoelectric bimorph micro-grippers based on equivalent elastic modulus is proposed. This paper establishes a gripping force calculating model according to the equivalent elastic modulus theory, proposes a measurement method in which the bimorph＇s equivalent elastic modulus is tested in pre-experiments for the gripping force calculation, and conducts gripping force measurement experiments with a self-developed coarse-fine piezoelectric bimorph micro-gripper as an object. Experiment results indicate that the method has good measurement accuracy.