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

Volume

15

fYear

2004

fDate

June 28 2004-July 1 2004

Firstpage

191

Lastpage

196

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Congress, 2004. Proceedings. World

Conference_Location

Seville

Print_ISBN

1-889335-21-5

Type

conf

Filename

1438551