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Design, control, and experimental study of a piezoelectric bimorph-based microgripper
Jie He1, Pingqing Fan1, Haibing Long1
1School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China.
The Review of Scientific Instruments
|October 24, 2025
Summary
This study introduces a novel piezoelectric microgripper for precise micro-nanomanipulation. An improved hysteresis model and compound control strategy enhance gripping accuracy and performance.
Area of Science:
- Micro-nanomanipulation
- Robotics
- Materials Science
Background:
- Piezoelectric microgrippers offer high precision and fast response for micro-object handling.
- Nonlinear hysteresis in piezoelectric materials challenges gripping accuracy.
Purpose of the Study:
- To develop a compact, fast-response piezoelectric microgripper.
- To improve gripping accuracy by addressing piezoelectric hysteresis.
Main Methods:
- Designed a piezoelectric microgripper using a parallel piezoelectric bimorph structure.
- Proposed an improved Prandtl-Ishlinskii (PI) hysteresis model with optimized parameters.
- Implemented a feedforward-feedback compound control strategy with a Proportional-Integral-Derivative (PID) controller.
Main Results:
- The improved PI model demonstrated enhanced fitting accuracy and reduced computational complexity.
- The compound control strategy effectively compensated for hysteresis nonlinearities.
- Experimental validation confirmed the microgripper's precise and stable gripping performance.
Conclusions:
- The developed piezoelectric microgripper achieves high precision and fast response.
- The proposed control strategy effectively mitigates hysteresis effects, enhancing manipulation capabilities.
- This technology holds significant potential for advanced micro-object manipulation applications.
