IPMC microgripper research and development

Lumia, Ronald; Shahinpoor, Mohsen

doi:10.1088/1742-6596/127/1/012002

Cited by 50 publications

(35 citation statements)

References 11 publications

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“…An advantage of IPMCs is that they can easily be manufactured at millimeter size. Deole et al and Lumia and Shahinpoor developed microgrippers composed of two IPMC actuators (dimensions 5 mm × 1 mm × 0.2 mm), manipulating a metallic ball with a mass of 15 mg (Figure e). In addition, Jain et al investigated the behavior of a two‐fingered microgripper.…”

Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

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Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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“…and the force exerted by the IPMC fingers can be 85 µN which shows the load carrying capability of IPMC. From this study it can be concluded that the IPMC can be used with different shapes and sizes [6]. R K Jain et al developed a remote center compliance (RCC) based three finger micro -gripper with IPMC actuator of dimension 40 mm × 10 mm × 0.2 mm for peg-in-hole (PIH) micro assembly operations [7].…”

Section: Introductionmentioning

confidence: 99%

Gesture based control of IPMC actuated gripper

Chattaraj

Bhattacharya²,

Roy

et al. 2014

2014 Recent Advances in Engineering and Computational Sciences (RAECS)

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“…Several microgrippers have been proposed using piezoelectric element (Zubir et al, 2009), shape memory alloy (SMA) (Kyung et al, 2008) (Leester-Schadel et al 2008), electro-thermal effect (Krecinic et al, 2008), electroactive polymer (Lumia and Shahinpoor, 2008) (Maleki et al, 2012), fluid power (Jeong and Konishi, 2006) (Gorissen, 2013), Fig. 1 Schematic of an in-pipe working microrobot.…”

Section: Introductionmentioning

confidence: 99%

A novel soft microgripper using divided-electrode type flexible ER valves

Yoshida

Hara

Eom

et al. 2015

Mechanical Engineering Journal

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For maintenance microrobots for small diameter pipes in power plants and so on, a novel microgripper using divided-electrode type flexible electro-rheological valves (DE-FERVs) was proposed and developed. Each bendable finger consisted of the DE-FERV and a hydraulic rubber actuator and was several millimeters long. The DE-FERV had an axially divided parallel plate electrode pairs in a flexible tube. Each parallel plate electrode pair controlled the electro-rheological fluid (ERF) flow by changing the viscosity with the electric field. The DE-FERV had both high flexibility and sufficient pressure control range. The hydraulic rubber actuator had plural integrated walls inside to restrict its radial expansion and axially extended by the inner pressure controlled by the DE-FERV. A finger large model was fabricated and experimentally characterized. Then, a gripper having two fingers was constructed and the object handling was demonstrated.

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IPMC microgripper research and development

Cited by 50 publications

References 11 publications

Soft Robotic Grippers

Soft Robotic Grippers

Gesture based control of IPMC actuated gripper

A novel soft microgripper using divided-electrode type flexible ER valves

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