Development of Multi Micro Manipulation System Using IPMC Micro Grippers
Development of Multi Micro Manipulation System Using IPMC Micro Grippers
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DOI：
10.1007/s10846-013-9874-y
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发表时间：
2014-06-01
影响因子：
3.3
通讯作者：
Dutta, A.
中科院分区：
文献类型：
--
作者：
Jain, R. K.;Datta, S.;Dutta, A.
本文提出了一种新型的离子聚合物金属复合材料（IPMC）微夹持器用于机器人微装配的多微操作系统的设计方案，其中IPMC作为一种轻量级的执行器来开发微夹持器。它具有大位移、低质量力产生和微操纵误差补偿能力的潜力。这些功能用于处理像钉子这样的微型部件。对IPMC微夹持器和机械手进行了分析，开发了一种多微操作系统，该系统可以在大工作空间（100 mm × 100 mm）内处理微装配操作中的插销，以实现插销在另一个孔位置的移动。通过样机的开发，证明了基于IPMC的微夹持器能够在多微操作系统中完成钉孔装配任务。
This paper presents a new design of multi micro manipulation system using ionic polymer metal composite (IPMC) micro grippers for robotic micro assembly where IPMC is used as a light weight actuator for developing the micro grippers. It has the potential of large displacement, low mass force generation and misalignment compensation ability during micro manipulation. These capabilities are utilized for handling of miniature parts like pegs. The analysis of IPMC micro gripper and manipulator are carried out for developing a multi micro manipulation system that can handle pegs in micro assembly operation for shifting one to another hole position in a large work space (100 mm x 100 mm). By developing a prototype, it is demonstrated that IPMC based micro grippers are capable of handling the peg-in-hole assembly tasks in a multi micro manipulation system.