Two IPMC Fingers Based Micro Gripper for Handling | Zendy

Ravi Jain | Zendy; Sourav Datta | Zendy; Saibal Majumder | Zendy; Ashish Dutta | Zendy

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Two IPMC Fingers Based Micro Gripper for Handling

Author(s) -

Ravi Jain,

Sourav Datta,

Saibal Majumder,

Ashish Dutta

Publication year - 2011

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/10523

Subject(s) - materials science , actuator , deflection (physics) , voltage , artificial muscle , composite material , bending , computer science , bending moment , structural engineering , electrical engineering , physics , optics , engineering , artificial intelligence

This paper presents the behavior of two finger based micro gripper which is made of Ionic Polymer Metal Composite (IPMC), an Electro Active Polymer (EAP). An IPMC shows great potential as high-displacement and light weight actuator. Low mass force generation capability is utilized for micro gripping in micro assembly. IPMC responds to low voltage in the range of 0-3V. The material contains an electrolyte which transport ions in response to an external electric field. IPMC actuation for micro gripping is produced by deflecting material according to bending moment theory. An external electric field generated by suitable RC circuit causes this deflection. It is found that an IPMC actuates from 1–5 seconds. The maximum jaw opening and closing position of micro gripper are found to be 5 mm and 0.5 mm respectively. The effect of tempearture, as observed, shows that the acceptable limit varies from 23.1°C to 30.4°C while an IPMC is in operation. An experimental proto type is developed for evaluation of performance

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