طراحي و امكان سنجي ساخت ميكروگريپر با استفاده از كامپوزيت هاي فلز- بسپاريوني (IPMC)

DESIGN AND FABRICATION OF IONIC POLYMER-METAL COMPOSITES (IPMC) MICROGRIPPER: A FEASIBILITY STUDY

Ionic polymer-metal composites (IPMCs) as actuators and sensors are sometimes referred to as "soft actual ors- sensors" or "artificial muscles". Recently, versatile de­velopments have been fulfilled in the fields of fabrica­tion, modeling and application of the aforementioned materials. In addition, the application of micro-electro­mechanical systems in sensors and actuators is growing rapidly. In this research, some ideas are explored and proposed for the design and fabrication of IPMC mi- crogrippers, based on micromachining technology. This product may have many potential applications in micro- robotics technology, especially for operations in biologi­cal environment s. Finally, the gripping process has been modeled based on the gripper clectro-mechanical behav­ior