Novel approach of IPMC actuated finger for micro-gripping

Abstract

With the advent of robotic gripping devices pertinent to manipulation science, micro-object manipulation has become the most challenging one. In this research paper a novel technique is introduced in the field of smart actuator based finger design, for micro gripping and soft object handling. The finger were fabricated by silicon rubber (Resibond GP Sealant 1010) substrated with Ionic Polymer Metal Composite (IPMC), were totally placed within the fingers which seems to be a new approach introduced in this research report. The electrical connection of these fingers was made in a unique method and IPMCs are actuated with a satisfactory actuation result.