Micro manipulation by a compliant piezoelectric micro gripper towards robotic micro assembly. (2016)

• Record Type: Journal Article
• Authors: Jain, Ravi Kant; Majumder, Somajyoti; Ghosh, Bhaskar; Saha, Surajit
• Is Part Of: International journal of mechatronics and manufacturing systems. Volume 9:Number 1(2016)
• Page Start: 3
• Page End: 23
• Publication Date: 2016
• Subjects: piezoelectric actuators -- micro grippers -- robotic assembly -- micro assembly -- handling -- micromanipulation -- assembly robots -- misalignment -- peg-in-hole assembly -- voltage control -- PD control -- compliance -- mobile manipulation -- micromanufacturing; Mechatronics -- Periodicals; 629.89
• Languages: English
• ISSNs: 1753-1039

Abstract

This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator-based micro gripper is designed for handling the miniature parts. The compensation of misalignment during robotic peg-in-hole assembly is achieved by this compliant micro gripper because the piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. The throughput/speed analysis of mobile micro manipulation system is carried out for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator-based micro gripper has also been discussed where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator-based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system.