Abstract
Over the past few decades, the Electro Active Polymer (EAPs) has become quite useful for vast applications in the field of robotic and bio-mimetic. Ionic Polymer Metal Composite (IPMC) is one of the EAPs which holds an excellent bending property at low actuation voltage resulting high force output; thus, it is capable of doing work as good as human finger tip when the same is employed as an actuator for micromanipulation. In the present investigation, a four-fingered micro gripper under the actuation of IPMC has been addressed. The microgripper consists of four fingers made of Polydimethyl Siloxane and each finger has three notches. The novelty of this gripping device is in its multifunction operation. It can manipulate microobject less than 1 mm diameter as well as macro object within the diameter of 10 mm. This finger design is compliant in nature. The development of micropart handling devices and allied research is a highly challenging task. The principle on which the gripper operates and its fabrication process are explained in detail in this article. It involves miniature part handling, integration, and assembly operation.
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