Development of Multi Micro Manipulation System Using IPMC Micro Grippers
IR@CMERI: CSIR- Central Mechanical Engineering Research Institute (CMERI), Durgapur
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Title |
Development of Multi Micro Manipulation System Using IPMC Micro Grippers
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Creator |
Jain, R.K.
Datta, S. Majumder, S. Dutta, A. |
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Subject |
Micro machine
Micro robotics |
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Description |
This paper presents a new design of
multi micro manipulation system using ionic polymer
metal composite (IPMC) micro grippers for
robotic micro assembly where IPMC is used as
a light weight actuator for developing the micro
grippers. It has the potential of large displacement,
low mass force generation and misalignment
compensation ability during micro manipulation.
These capabilities are utilized for handling of
miniature parts like pegs. The analysis of IPMC
micro gripper and manipulator are carried out
for developing a multi micro manipulation system
that can handle pegs in micro assembly operation
for shifting one to another hole position in a large
work space (100 mm × 100 mm). By developing
a prototype, it is demonstrated that IPMC based
micro grippers are capable of handling the peg-inhole
assembly tasks in a multi micro manipulation
system.
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Publisher |
Springer
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Date |
2014
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Type |
Article
PeerReviewed |
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Identifier |
Jain, R.K. and Datta, S. and Majumder, S. and Dutta, A. (2014) Development of Multi Micro Manipulation System Using IPMC Micro Grippers. Journal of Intelligent & Robotic Systems, 74. pp. 547-569.
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Relation |
http://cmeri.csircentral.net/24/
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