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A small-scale flexure-based gripper was designed for manipulation tasks requiring precision position and force control. The gripper is actuated by a piezoelectric ceramic stack actuator and utilizes strain gages to measure both the gripping force and displacement. The position and force bandwidths were designed for ten Hertz and one hundred Hertz, respectively, in order to afford human-based teleoperative transparency. The gripper serves effectively as a one degree-of-freedom investigation of compliant mechanism design for position and force controlled micromanipulation. Data is presented that characterizes the microgripper performance under both pure position and pure force control, followed by a discussion of the attributes and limitations of flexure-based design.
Goldfarb et al. (1999) studied this question.