Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper
IR@CMERI: CSIR- Central Mechanical Engineering Research Institute (CMERI), Durgapur
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| Title |
Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper
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| Creator |
Jain, Ravi K.
Majumder, Somajoyti Ghosh, Bhaskar Saha, Surajit |
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| Subject |
Micro robotics
Actuator |
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| Description |
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 and compensation of misalignment during peg-in-hole assembly is done because piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. This adjusts the misalignment of peg during robotic micro assembly. The throughput/speed of mobile micro manipulation system is found for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has been carried out 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.
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| Publisher |
Elsevier
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| Date |
2015-04
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| Type |
Article
PeerReviewed |
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| Identifier |
Jain, Ravi K. and Majumder, Somajoyti and Ghosh, Bhaskar and Saha, Surajit (2015) Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper. Journal of Manufacturing Systems, 35. pp. 76-91.
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| Relation |
http://cmeri.csircentral.net/206/
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