Gesture based control of IPMC actuated gripper

Abstract

Robotic grippers and its control is always a challenging and an interesting topic for the researcher. In the present scenario the most advanced gripping devices which are commercially available are of macro size. But the real challenge comes when we think for micro gripping or micro assembly. This paper represents a novel technique of gripping with Ionic Polymer Metal Composite (IPMC) actuated finger and advance communication process with the help of joystick and data glove. This technique gives an advantage to control a micro gripping device from a remote location. End effectors are made of IPMC. IPMC is one of the Electro Active Polymer (EAPs) which holds an excellent bending property at low actuation voltage resulting in 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. This device can manipulate micro object less than 1 mm in diameter as well as macro sized object within 10 mm diameter. This finger design is compliant in nature. In this article the underlying principle based on which the gripper operates and its fabrication process are explained in detail. It involves miniature part handling, integration and assembly operation.