かぎ状ピエゾ型微小ハンドリング素子の研究 (第1報)

動作の基本性質

抄録

This study analytically deals with the actuating device like a flexible finger for feeding of thin sheets and handling of minute parts. The actuator is a hooked cantilever, which consists of two bimorph members rigidly connected each other in a series. The members are applied independent excitation voltages. Then the tool attached at free end is able to move two dimensionally, vertical and horizontal directions to a feed plane by deflection of the members in different direction. The present paper discusses on quasi-static behavior of the device. When sum of an attaching angle of fixed end and an angle between axis lines in the combination of two piezo members is closer to 180°, that is, the tool is almost kept in a vertical position, actuating force and displacement of the tool have a maximum, respectively.