JAIN et al: MICRO GRIPPER FOR MICROMANIPULATION USING IONIC POLYMER METAL COMPOSITES
نویسندگان
چکیده
Electro active polymers (EAPs) exhibit large electrically induced strains (bending or stretching) with electrical stimuli. EAPs are utilized as actuators in micro gripper and micromanipulator in micro robotics activities. Remote center compliance (RCC) based micro gripper is developed to facilitate insertion of peg-in-hole (PIH) for micro assembly operations. An effect of RCC compliance during PIH operation is analyzed using ionic polymer strips. Experimental performance of insertion of peg during assembly, as compared with bending moment model of IPMC based micro gripper, shows misalignment of peg in handling operation.
منابع مشابه
Two IPMC Fingers Based Micro Gripper For Handling
This paper presents the behavior of two finger based micro gripper which is made of Ionic Polymer Metal Composite (IPMC), an Electro Active Polymer (EAP). An IPMC shows great potential as high‐ displacement and light weight actuator. Low mass force generation capability is utilized for micro gripping in micro assembly. IPMC responds to low voltage in the...
متن کاملSystem identification and microposition control of ionic polymer metal composite for three-finger gripper manipulation
Smart materials have been widely used for control actuation. A robotic hand can be equipped with artificial tendons and sensors for the operation of its various joints, mimicking human hand motions. The motors in the robotic hand could be replaced with novel electroactive polymer (EAP) actuators. In the three-finger gripper proposed in this paper, each finger can be actuated individually so tha...
متن کاملLayer-by-layer self-assembled conductor network composites in ionic polymer metal composite actuators with high strain response
polymer metal composite actuators with high strain response Sheng Liu, Reza Montazami, Yang Liu, Vaibhav Jain, Minren Lin, James R. Heflin, and Q. M. Zhang Department of Electrical Engineering, The Pennsylvania State University, University Park, Pennsylvania 16802, USA Department of Materials Science and Engineering, Virginia Tech, Blacksburg, Virginia 24061, USA Macromolecular Science and Engi...
متن کاملDesign and Control of an EMG Driven IPMC Based Artificial Muscle Finger
The medical, rehabilitation and bio-mimetic technology demands human actuated devices which can support in the daily life activities such as functional assistance or functional substitution of human organs. These devices can be used in the form of prosthetic, skeletal and artificial muscles devices (Andreasen et al., 2005; Bitzer & Smagt, 2006; DoNascimento et al., 2008). However, we still have...
متن کاملMultiscale Manipulations with Multiple Parallel Mechanism Manipulators
While recent years have brought an explosive growth in new microelectromechanical system (MEMS) devices ranging from accelerometers, oscillators, micro optical components, to micro-fluidic and biomedical devices, our concern is now moving towards complex microsystems that combine sensors, actuators, computation and communication in a single micro device. It is widely expected that these devices...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2008