中文摘要：

基于钳指可平动并能感知钳指位移与夹持力的要求,采用柔性放大机构对压电微夹钳进行了结构设计。基于ANSYS的压电耦合场分析技术,对压电微夹钳的静动态特性进行了分析表明,在200V的最大驱动电压下,钳指最大位移为233.9μm;在20V的阶跃驱动电压下,钳指的稳态位移为20.6μm,响应时间为0.1s;通过实验对压电微夹钳的静动态特性进行了测试,结果表明,在150 V的驱动电压下,钳指位移为78.4μm,夹持0.3mm×8mm微轴所产生的夹持力为9.2mN。

英文摘要：

Based on the requirements of that the finger can move in parallel, the displacement and gripping force of the finger can be detected, the structural of piezoelectric micro-gripper was designed by flexible magnifying mech- anism. The static and dynamic characteristics of the micro-gripper were analyzed by ANSYS piezoelectric coupledfield module. The analysis results showed that the maximum displacement of the finger was about 233.9 μm when the maximum voltage of 200 V was applied to the piezoelectric actuator. The steady state displacement and the response time of the finger were 20.6 μm and 0.1 s respectively under a step voltage of 20 V. The static and dynamic characteristic of the micro-gripper were measured by experiment. The experimental results showed that the displace- ment of the finger was 78.4 btm when a voltage of 150 V was applied to the piezoelectric actuator; the gripping force of the finger was 9.2 mN when a micro shaft （Ф0.3 mm×8 mm） was gripped.