Robotic micro assembly by compliant piezoelectric micro grippers in multi mobile micro manipulation system

Abstract

In order to attempt on multiple robotic micro assemblies of miniature parts, the handling and grasping are the critical parameters while designing the micro manipulation system (MMS). In this paper, a novel design of multi mobile MMS is proposed where handling and grasping are performed using compliant bimorphs piezoelectric micro grippers. These grippers provide self adjustment of peg misalignment during pick and place and peg-in-hole assembly where the bimorphs piezoelectric actuator has bi-directional actuation capability during handling for a long time as well as high force generation capability for grasping. The analysis of mobile MMS and piezoelectric micro gripper are carried out which provides the precise positioning of object during robotic micro assembly. By developing a prototype, it is demonstrated that compliant piezoelectric micro grippers are capable of handling different objects and simultaneously attempt the multiple robotic micro assembly in a large work space.