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Micro gripper for micromanipulation using IPMCs (ionic polymer metal composites)

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Title Micro gripper for micromanipulation using IPMCs (ionic polymer metal composites)
 
Creator Jain, R K
Patkar, U S
Majumdar, S
 
Subject EAP
IPMC
Micro assembly
Micro gripper
Peg-in-hole (PIN)
Remote-center-compliance (RCC)
 
Description 23-28
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.
 
Date 2009-01-16T04:00:04Z
2009-01-16T04:00:04Z
2009-01
 
Type Article
 
Identifier 0022-4456
http://hdl.handle.net/123456789/2777
 
Language en_US
 
Publisher CSIR
 
Source JSIR Vol.68(1) [January 2009]