Title :
Grasping flexible objects using artificial muscle microgrippers
Author :
Deole, Ujwal ; Lumia, Ron ; Shahinpoor, M.
Author_Institution :
Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM
fDate :
June 28 2004-July 1 2004
Abstract :
Microscale grasping and manipulation has opened new avenues in the field of bio-manipulation and assembly of MEMS components. Ionic polymer metal composite (IPMC) artificial muscles offer a promising approach for manipulating flexible objects like biological cells. IPMC membranes are electroactive, and therefore bend when a voltage is applied across them. Since they are both flexible and compliant, they do not damage fragile objects during manipulation. IPMCs can be cut as small as desired without losing any of their properties, and are therefore ideal for micromanipulation applications. This paper describes how these IPMCs in a microgripper configuration can be used to grasp flexible objects and presents experimental results of the first generation IPMC microgripper
Keywords :
filled polymers; flexible manipulators; grippers; micromanipulators; MEMS component assembly; artificial muscle microgrippers; biological cells; biomanipulation; flexible object grasping; ionic polymer metal composite membranes; microgripper configuration; micromanipulation applications; microscale grasping; microscale manipulation; Actuators; Capacitive sensors; Feedback; Glass; Grippers; Micromechanical devices; Muscles; Robotic assembly; Robots; Voltage;
Conference_Titel :
Automation Congress, 2004. Proceedings. World
Conference_Location :
Seville
Print_ISBN :
1-889335-21-5
