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JSIR Vol.68(01) [January 2009] >


Title: Micro gripper for micromanipulation using IPMCs (ionic polymer metal composites)
Authors: Jain, R K
Patkar, U S
Majumdar, S
Keywords: EAP
IPMC
Micro assembly
Micro gripper
Peg-in-hole (PIN)
Remote-center-compliance (RCC)
Issue Date: Jan-2009
Publisher: CSIR
Abstract: 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.
Page(s): 23-28
ISSN: 0022-4456
Source:JSIR Vol.68(01) [January 2009]

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