Design and shape deposition manufacturing (SDM) fabrication of a PZT-actuated tool for micromanipulation

Author

Eisinberg, Anna ; Izzo, Ivano ; Menciassi, Arianna ; Houston, Keith ; Valdastri, Pictro ; Dario, Paolo ; Gustafsson, Rickard ; Simu, Urban ; Johansson, Stefan

Author_Institution

CRIM Lab., Scuola Superlore di Studi e Perfezionamento Sant ´´Anna, Pisa, Italy

fYear

2005

fDate

27-30 June 2005

Firstpage

111

Lastpage

116

Abstract

In this paper a novel tool for micromanipulation is presented. The device has been purposely designed for integration in small mobile microrobots, aimed at performing cooperative precision manipulation and assembly tasks. Concerning the actuation, multilayer piezoceramic components were developed and employed. The selected low-cost fabrication technique is shape deposition manufacturing (SDM), and different alternatives have been investigated, in order to select the optimal design. Several prototypes have been fabricated, and preliminary experimental tests have been performed, both regarding the characterization and the grasping capabilities.

Keywords

dexterous manipulators; microassembling; micromanipulators; mobile robots; piezoceramics; cooperative precision manipulation; grasping capabilities; microgrippers; micromanipulation; mobile microrobots; multilayer PZT actuators; multilayer piezoceramic components; shape deposition manufacturing; Actuators; Assembly; Educational institutions; Fabrication; Grippers; Manufacturing; Nonhomogeneous media; Piezoelectric materials; Prototypes; Shape; Microgrippers; Micromanipulation; Multilayer PZT Actuators; Shape Deposition Manufacturing (SDM);

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on

Print_ISBN

0-7803-9355-4

Type

conf

DOI

10.1109/CIRA.2005.1554263

Filename

1554263