Design and control of a novel micro-gripper using adaptive backstepping slide mode control method

Zhigang Wu, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

6 Citations (Scopus)


A symmetrical micro-gripper structure is designed via the Scott-Russell mechanism. The kinematic and dynamic models are established through pseudo-rigid-body method and Lagrange’s method, which are verified by finite element modeling. The hysteresis inverse compensator via Bouc–Wen model is applied to describe the micro-gripper system and their parameters are also identified via least square optimization method. An adaptive backstepping sliding mode controller involving hysteresis compensator is applied for eradicating the hysteresis influence. Meanwhile, for expressing the merit of proposed controller, backstepping sliding mode controller without adaptive control law and PID controller is also carried out. The simulation and experimental results demonstrate that natural frequency of working direction is about 815.77 Hz, the amplification ratio in two axes is approximated to be 7.73. The test errors for two jaws are around 4% and the tracking errors are less than 2% for the selected controller.
Original languageEnglish
Pages (from-to)4227-4239
Number of pages13
JournalMicrosystem Technologies
Issue number12
Publication statusPublished - 20 Feb 2021

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Hardware and Architecture
  • Electrical and Electronic Engineering


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