Dexterous Tweezers Hardware Manual
The prototype tweezers for micro-manipulation are placed on the fixed blocks. One finger of tweezers is perpendicular to the other finger. Unlike the usual parallel configuration of tweezers, the perpendicular configuration makes it possible to rotate a micro-component by controlling the deflection of each arm of tweezers separately.
Each finger of the tweezers is pushed and bent by its piezoelectric actuator. The deflection of finger is controlled by the voltage to the piezoelectric actuator. It is possible to measure the deflections and the forces of both fingers by the strain gauges attached to the base and the tip sheets.
The PCB substrate is on the XYZ stage. The stage is actuated by stepping motors in the X, Y and Z directions. We supply a micro-component on the substrate and move the substrate stage so that the tweezers can manipulate the component.
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