Abstract
This paper primarily focuses on mathematical models for anticipation of actuation force and displacement for IPMC actuator which was utilized to actuate a PDMS-based microgripper. To achieve higher actuation force and displacement, higher voltage (4.5 V) and lower frequency (0.001 Hz) values are to be ensured. Moreover, for higher actuation force KCl dopant and for actuation displacement DW work, doping solutions are to be used. In order to select proper material for compliant gripper, a systematic approach taken by adopting MCDM techniques like TOPSIS, MOORA, COPRAS, ELECTRE-II and Polydimethylsiloxane (PDMS) was found to be the best material. ANSYS-14 software was utilized to adjudge the compatibility of actuation force exerted by IPMC and the functionality of PDMS gripper prior to fabrication. A microgripper has been fabricated which is capable to grasp small objects of 1.247 gms.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
