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طراحی و کنترل میکروگریپر پیزوالکتریکی با هدف گرفتن سلول زیستی
کشاورزی، علی Keshavarzi, Ali
Design and Control of a Piezoelectric Microgripper for Biological Cell Manipulation
Keshavarzi, Ali | 2025
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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 58634 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Pasharavesh, Abdolreza; Ahmadian, Mohammad Taghi
- Abstract:
- Safe and reliable micromanipulation of biological cells requires microgrippers that combine precise motion, delicate force regulation, and robust control strategies against tissue variability. In this work, we address the challenge of designing and controlling a piezoelectric-driven compliant microgripper capable of manipulating biological cells such as embryonic stem cells and oocytes, whose viscoelastic properties and adhesive interactions complicate stable grasping. We design and optimize a compliant amplification mechanism, yielding a displacement amplification ratio of 25.02 and a first natural frequency of 513.31 Hz, ensuring both high resolution and dynamic stability. Biological cell behavior is represented by a viscoelastic model, while the gripper’s structural dynamics are captured through a hybrid formulation combining rigid-body kinematics and Timoshenko beam theory. To regulate both displacement and gripping force under contact and non-contact conditions, we implement control strategies including impedance control and hybrid position/force switching control. The derived analytical models of the coupled gripper–cell system are validated against finite element simulations. Results indicate that the proposed microgripper achieves stable grasping with large stroke amplification, while the control strategies enable smooth transitions between free motion, contact, and release phases. Impedance control demonstrates robustness to variations in tissue stiffness, whereas the hybrid scheme achieves accurate force tracking with rapid settling. The findings confirm that integrating compliant design, viscoelastic cell modeling, and advanced control enables safe manipulation within the micro-Newton range without damaging fragile cells. This study establishes a complete design–modeling–control framework for piezoelectric microgrippers, providing both quantitative performance metrics and practical guidelines for future biomedical micromanipulation systems
- Keywords:
- Compliant Mechanism ; Microgripper ; Viscoelastic Cell Model ; Impedance Control ; Timoshenko Beams ; Hybrid Position/Force Control ; Piezoelectric Microgripper ; Hybrid Control ; Biological Cells
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