| 摘要 |
The invention relates to a hybrid magnetic piezoelectric technical device of the micro clip type capable to manipulate mechanical and/or biological objects of sizes ranging between 1...100 μ m, at a prehension force control in the range of mN multiples and submultiples. According to the invention, the device comprises at least two active arms, each of them being capable of independent bidimensional actuation, the actuation in the plane of the micro clip being achieved using magnetic, electromagnetic and electrostrictive means, by means of monolith joints, while the second freedom degree is provided by means of a piezoelectric element capable to perform a flexion motion on the direction normal to the plane of the micro clip. In one embodiment, the device consists of a metal casing (1) on which there are placed some magnetic field generating elements consisting of two pairs of coils (2) and permanent magnets (3) which transmit a prehension magnetic force into some arms (4), by means of a joint (4'), while some piezoelectric arms (5) of bilamellar structure make possible the actuation on the direction normal to the plane of the device, and some passive elements (6) take over the contact with the object to be manipulated. Optionally, on the casing (1) there can be placed magnetic field sensors (7) which, associated with some magnetic elements (8) convert the mechanical motion signals into electric signals. |
