Micro Manipulation by a Compliant Piezoelectric Micro Gripper towards Robotic Micro Assembly

This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts. The compensation of misalignment during robotic peg-in-hole assembly is achieved by this compliant micro gripper because the piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. The throughput/speed analysis of mobile micro manipulation system is carried out for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has also been discussed where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system.