Modelling and control of a bio-inspired microgripper
by G.B. Madhab, C.S. Kumar, P.K. Mishra
International Journal of Manufacturing Technology and Management (IJMTM), Vol. 21, No. 1/2, 2010

Abstract: A biologically inspired microgripper has been considered with its kinematic model. The dynamic model of the gripper has been developed considering the system with its equivalent lumped inertia, stiffness and damping parameters. The biomimetic gripper developed is conceptually similar to an agonist–antagonistic mechanism. This mechanism is most commonly used by almost all crustaceans not only for gripping, but also for cutting, crushing, walking, climbing, etc., where two muscles called agonist and antagonist are working against each other to allow movement in both directions and to stabilise the joint. The mathematical model is then simulated using MATLAB/SIMULINK. Based on the SIMULINK model developed, a PID controller is used for precise position control.

Online publication date: Sat, 31-Jul-2010

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Manufacturing Technology and Management (IJMTM):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com