Micro gripper for micromanipulation using IPMCs (ionic polymer metal composites)

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.