The piezoelectric-actuated compliant microgripper (PEACM) plays an essential role in the application fields such as biomedical engineering, microelectronics, and optical engineering. As compared with other categories of grippers, PEACM exhibits the advantages of high accuracy of displacement, large power to weight ratio, low energy consumption, and fast response speed. This paper reviews the recent advances on performance indices, classification, structural composition, optimization and modeling method, and control of PEACM. First, the gripper's performance indices and classifications are elaborated, which is beneficial to determine the design goal. Then, the compliant mechanisms adopted in the microgripper design are discussed, including the flexible hinge, displacement amplifier, and guiding mechanism. In addition, the optimization and modeling methods of the microgripper are presented. Popular types of position/force sensors and different displacement/force control strategies employed in the microgripper are surveyed. Moreover, the prospect on future development trend of the PEACM is discussed. The paper provides the reader with an overview of the recent advances on PEACM design and also a guideline on further development of the microgripper.

Recent design and development of piezoelectric-actuated compliant microgrippers: A review

Transmission principle and geometrical model of eccentric face gear

In order to further improve the grinding efficiency of face gear, this paper presents a novel method for grinding face gear along contact trace using disk CBN wheel. Firstly, the grinding principle of face gear is studied, and the tooth surface equations of rack and gear shaper cutter are derived, thus formulating the tooth surface equation of disk CBN wheel. Secondly, considering the structure of the face gear grinding machine tool and the impact of the grinding wheel parameters on the face gear tooth surface, the disk CBN wheel configuration is proposed, and the calculation method of the tool position of the face gear grinding is established. Thirdly, according to the structural characteristics of the grinding wheel, the tooth surface contact trace of the face gear is designed, and the face gear development grinding processing method along the tooth surface contact traces is presented. Finally, a test of grinding spur face gear with disk CBN wheel is carried out on a laboratory-made five-axis face gear processing machine. The test results verified the correctness of the face gear grinding. Compared with the dish wheel for grinding face gear, the grinding method proposed in this paper can further improve the grinding efficiency of face gear. This method will break new ground for the engineering application of the face gear.

An efficient generation grinding method for spur face gear along contact trace using disk CBN wheel

In order to study the influence of harmonic torque on the performance of the integrated electric drive system (permanent magnet synchronous motor + reducer gear pair) in a pure electric vehicle (PEV), the electromechanical coupling dynamic model of a PEV was established by considering the dead-time effect and voltage drop effect of an inverter and the nonlinear characteristics of the transmission system. Based on the model, the dynamic characteristics of an integrated electric drive system (IEDS) are studied, and the interaction between the mechanical system and electrical system is analyzed. On this basis, a harmonic torque reduction strategy for an IEDS is proposed in this paper. The simulation results show that the proposed strategy can effectively reduce the harmonic torque of the motor and reduce the speed fluctuation and dynamic load of the system components, which can improve the stability of the IEDS and prolong the life of the mechanical components.

Research on Harmonic Torque Reduction Strategy for Integrated Electric Drive System in Pure Electric Vehicle

Positioning error guarantee method with two-stage compensation strategy for aircraft flexible assembly tooling

In order to verify the validity of the design for the orthogonal variable transmission ratio face gear pair, a five-axis CNC machine tool was used to machine this gear. The cutter tooth profile coordinate system, orthogonal variable ratio face gear machining coordinates, the model for the round-corner at tooth tip, the contact line model and CNC machining models were established by using space gear meshing theory and the machining principle of five-axis CNC machine tools. The method of machining this gear along the contact line has been obtained through the combination of the envelope method and milling principle. Cutter tooth profile equations, coordinate transformation matrices between the non-circular gear tooth surface and orthogonal variable transmission ratio gear tooth surface, transition surface equations and five-axis motion equations were derived. The rolling experiment and tooth surface measurement experiment were conducted on the gear, which was processed by a five-axis CNC machine. The results show that the tooth surface accuracy of the orthogonal variable transmission ratio face gear is high. The design of the orthogonal variable transmission ratio face gear, and its processing method using a five-axis NC machine have been verified.

A five-axis CNC machining method of orthogonal variable transmission ratio face gear

Based on the cylindrical coordinates and the space engagement theory, which utilize a cylindrical coordinate system, an arbitrary curve equation was obtained and a method of curve expansion was established. This allows any order of pitch curve of non-circular curved face gear and normal equidistant curve parameter equations to be derived. The tooth profile points of the non-circular curved face gear can be solved using the numerical calculation method where the tooth profile intersects with the pitch curve and normal equidistant curves of non-circular curved face gear. Finally the numerical method used to solve the tooth profile of the non-circular curved face gear was proved to be accurate and correct from the small error between measured data and the data of theoretical calculation.

Numerical Calculation of Tooth Profile of a Non-circular Curved Face Gear

A new type of gear pair consisting of a helical non-circular gear and a curve-face gear is designed, which can transmit the time-varying motion of intersected axes of rotation. Based on the generation mechanism of non-circular gear, the geometric model of helical curve-face gear is considered and the generating method of pitch curve of helical curve-face gear is discussed. According to the meshing theory, the meshing equation of helical curve-face gear is built and the mathematical model of tooth surface is developed. The method used to calculate its minimum inner radius and maximum outer radius is obtained. Furthermore, the method that the helical curve-face gear is generated by a shaper cutter is put forward and the three-dimensional model of helical curve-face gear is completed by modeling software. A phenomenon of transmission stability is discovered through contrast to the transmission ratio curve of experimental and theoretical value, which can illustrate the correctness of the design method and the practicability of the helical curve-face gear.

https://www.jstage.jst.go.jp/article/jamdsm/9/5/9_2015jamdsm0066/_pdf

Design, generation and tooth width analysis of helical curve-face gear

A new type of curve-face gear pair high speed curve-face gear pair is proposed. It combines the high speed cam motion law and the curve-face gear transmission, and can transmit rotation/axial motion and power between intersecting axis. The meshing coordinate system of the gear transmission is established and the basic principle of engagement is expounded. The composite motion law and force of high speed curve-face gear drive are analyzed, and influences of the basic structural parameters on the pressure angle and the force are analyzed in detail. The comparison between the experimental results and the theoretical results shows that the basic principle and design of the gear transmission are verified.

Analysis of composite motion law and force of high speed curve-face gear

As a new type of gear transmission, composite curve-face gear transmission is used to transfer the power and composite motion of rotation and movement between the intersecting or interlaced axis. By using the theory of gear meshing, geometrical differential and space cam design, the motion principle and form of the composite curve-face gear transmission were discussed; the movement characteristics of the composite curve-face gear transmission were analyzed, including transmission ratio, rotation, movement and quick-return; the motion stability of the curve-face gear with different pitch curve forms was studied; and the forms of curve-face gear to realize stable and high-speed transmission were obtained. The correctness of the curve-face gear transmission is verified by experiment.

Research on the motion characteristics of composite Curve-face gear transmission

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