Abstract: A release operation method based on piezoelectric vibration control is proposed to solve the adhesion problem of micro gripper in the process of clamping tiny objects. It is proved by the theory of elastic adhesion that the inertia force caused by the piezoelectric vibration effect can be used to overcome the adhesion between the micro gripper and small object. And it is illustrated that the proposed method is feasible. A dynamic model for illustrating the vibration characteristics of the piezoelectric micro-gripper is established by using the experimental method. The conditions on the amplitude and frequency of input voltage of the actuator during the stable release of the micro objects are obtained based on the proposed model. An experimental platform with a micro gripper is built in order to carry on the experiments on the release of small objects. The experimental results show that the proposed method is feasible, and the smaller the sizes of the tiny objects are, more difficult the release is. The greater inertia force is needed to overcome the adhesion force. Key

Key words: mechanics, microgripper, releaseoperation, adhesion, vibration