Two IPMC Fingers Based Micro Gripper For Handling
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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2011-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/two-ipmc-fingers-based-micro-gripper-for-handling |
| _version_ | 1811316542887952384 |
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| author | R K Jain S Datta S Majumder A Dutta |
| author_facet | R K Jain S Datta S Majumder A Dutta |
| author_sort | R K Jain |
| collection | DOAJ |
| description | 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 23.10C to 30.40C while an IPMC is in operation. An experimental proto type is developed for evaluation of performance. |
| first_indexed | 2024-04-13T11:50:47Z |
| format | Article |
| id | doaj.art-8e5c312fcf8a45b58ad5ef0eedaee970 |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-04-13T11:50:47Z |
| publishDate | 2011-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-8e5c312fcf8a45b58ad5ef0eedaee9702022-12-22T02:48:03ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142011-03-018119Two IPMC Fingers Based Micro Gripper For HandlingR K JainS DattaS MajumderA DuttaThis 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 23.10C to 30.40C while an IPMC is in operation. An experimental proto type is developed for evaluation of performance.http://www.intechopen.com/articles/show/title/two-ipmc-fingers-based-micro-gripper-for-handlingIPMCmicro gripperhandling deviceEAPactuator etc. |
| spellingShingle | R K Jain S Datta S Majumder A Dutta Two IPMC Fingers Based Micro Gripper For Handling International Journal of Advanced Robotic Systems IPMC micro gripper handling device EAP actuator etc. |
| title | Two IPMC Fingers Based Micro Gripper For Handling |
| title_full | Two IPMC Fingers Based Micro Gripper For Handling |
| title_fullStr | Two IPMC Fingers Based Micro Gripper For Handling |
| title_full_unstemmed | Two IPMC Fingers Based Micro Gripper For Handling |
| title_short | Two IPMC Fingers Based Micro Gripper For Handling |
| title_sort | two ipmc fingers based micro gripper for handling |
| topic | IPMC micro gripper handling device EAP actuator etc. |
| url | http://www.intechopen.com/articles/show/title/two-ipmc-fingers-based-micro-gripper-for-handling |
| work_keys_str_mv | AT rkjain twoipmcfingersbasedmicrogripperforhandling AT sdatta twoipmcfingersbasedmicrogripperforhandling AT smajumder twoipmcfingersbasedmicrogripperforhandling AT adutta twoipmcfingersbasedmicrogripperforhandling |