The CNT-PDMS composite has been widely adopted in flexible devices due to its high elasticity, piezoresistivity, and biocompatibility. In a wide range of applications, CNT-PDMS composite sensors were used for resistive strain measurement. Accordingly, the percolation threshold 2%~4% of the CNT weight ratio in the CNT-PDMS composite was commonly selected, which is expected to achieve the optimized piezoresistive sensitivity. However, the linear range around the percolation threshold weight ratio (2%~4%) limits its application in a stable output of large strain (>20%). Therefore, comprehensive understanding of the electromechanical, mechanical, and electrical properties for the CNT-PDMS composite with different CNT weight ratios was expected. In this paper, a systematic study was conducted on the piezoresistivity, Young’s modulus, conductivity, impedance, and the cross-section morphology of different CNT weight ratios (1 to 10 wt%) of the CNT-PDMS composite material. It was experimentally observed that the piezo-resistive sensitivity of CNT-PDMS negatively correlated with the increase in the CNT weight ratio. However, the electrical conductivity, Young’s modulus, tensile strength, and the linear range of piezoresistive response of the CNT-PDMS composite positively correlated with the increase in CNT weight ratio. Furthermore, the mechanism of these phenomena was analyzed through the cross-section morphology of the CNT-PDMS composite material by using SEM imaging. From this analysis, a guideline was proposed for large strain (40%) measurement applications (e.g., motion monitoring of the human body of the finger, arm, foot, etc.), the CNT weight ratio 8 wt% was suggested to achieve the best piezoresistive sensitivity in the linear range.

The compliant micro-gripper driven by piezo actuator has emerged as a representative end-effector in micro-manipulations. To achieve high performance gripping of tiny and fragile objects, the switched position/force modeling approach has been well explored for such systems. In the present work, we investigate a lever-bridge-lever type piezo-driven compliant micro-gripper and develop a new position/force model to describe both kineto-statics and dynamics of the micro-gripper, where the free motion and gripping motion states in the manipulation process are unified in the modeling approach. In particular, the impacts of gripping objects on the dynamic properties of the gripper (in gripping motion state) are incorporated by considering the gripping object as a spring-damper system with a characteristic length. With this, the dynamic model can better predict the position of the gripping jaw and the contact position of the object, as well as the force applied on the object, which also offers the capability to estimate the stiffness of unknown objects in manipulations. Various gripping experiments with soft and stiff objects of different dimensions are conducted, which demonstrate the effectiveness and accuracy of the proposed modeling approach.

Owing to the limited stroke of piezo stacks, compliant amplification mechanisms are widely employed to magnify the displacement of piezoelectric actuators for emerging applications in precision engineering. In this study, a three-dimensional (3D) bridge-type amplification mechanism composed of two serially connected bridge-type amplifiers with a novel constraint form has been developed. The parallel guiding beams mounted at the input and output ends significantly increase the lateral stiffness and minimize parasitic displacements for higher accuracy. Furthermore, a new theoretical model is established to predict the magnification behavior of the 3D amplifier that takes into account the displacement loss caused by the coupling of the two bridge-type amplifiers. The accuracy of this model and the mechanical performance of the developed amplifier are verified by conducting finite element simulations and experimental studies on the manufactured prototypes.

This paper presents a novel nested, compliant, constant-force mechanism (CFM) that generates millimeter-scale manipulation stroke. The nested structure is utilized to improve the overall compactness of the CFM. A combination strategy of positive and negative stiffness is induced to generate constant force with a millimeter-level range. In particular, bi-stable beams are used as the negative stiffness part, and V-shaped beams are selected as the positive stiffness part, and they are constructed into the nested structures. With this, a design concept of the CFM is first proposed. From this, an analytical model of the CFM was developed based on the pseudo-rigid body method (PRBM) and chain beam constraint model (CBCM), which was verified by conducting a simulation study with nonlinear finite-element analysis (FEA). Meanwhile, a parametric study was conducted to investigate the influence of the dominant design variable on the CFM performance. To demonstrate the performance of the CFM, a prototype was fabricated by wire cutting. The experimental results revealed that the proposed CFM owns a good constant-force property. This configuration of CFM provides new ideas for the design of millimeter-scale, constant-force, micro/nano, and hard-surface manipulation systems.

Various tools, such as biomedical manipulators, optical aligners, and ultraprecision manufacturing tools, implement nanopositioners that must be dynamically tunable to satisfy the requirements of different working conditions. In this paper, we present the design and analysis of a flexure-based nanopositioner with dynamically tunable characteristics for the implementation of a high-performance servomechanism. The nanopositioner is composed of four flexure beams that are positioned in parallel and symmetric configurations sandwiched between magnetorheological elastomers (MREs). The properties of MREs impart dynamicity to the nanopositioner, allowing the workspace, stiffness, and damping characteristics in particular to be tuned under the action of an external magnetic field. By utilizing elastic beam theory and electromagnetic field coupling analysis, kinetostatic and dynamic models of the proposed nanopositioner were established to predict the variable stiffness property and dynamically tunable characteristics. The models were validated by performing a finite element analysis. Herein, it is shown that the proposed nanopositioner model can actively adjust the trade-offs between the working range, speed, and sustained load capability by changing the magnetic field. The proposed dynamic tuning method offers new insight into the design of flexure-based nanopositioners for real applications.