DocumentCode :
2369869
Title :
IPMC based micro gripper for miniature part handling
Author :
Jain, R.K. ; Datta, S. ; Majumder, S.
Author_Institution :
Central Mech. Eng. Res. Inst., Durgapur, India
fYear :
2010
fDate :
4-7 Aug. 2010
Firstpage :
1414
Lastpage :
1419
Abstract :
This paper presents the behavior of two finger based micro gripper which is made of Ionic Polymer Metal Composite (IPMC), an Electro Active Polymer. 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.
Keywords :
bending; electric actuators; grippers; microassembling; polymer electrolytes; IPMC actuation; bending moment theory; electro active polymer; ionic polymer metal composite; light weight actuator; micro assembly; micro gripper; miniature part handling; Actuators; Electric fields; Fingers; Force; Grippers; Polymers; Strips; EAP; IPMC; actuator etc; handling device; micro gripper;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation (ICMA), 2010 International Conference on
Conference_Location :
Xi´an
ISSN :
2152-7431
Print_ISBN :
978-1-4244-5140-1
Electronic_ISBN :
2152-7431
Type :
conf
DOI :
10.1109/ICMA.2010.5589028
Filename :
5589028
Link To Document :
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