Title: Micro manipulation by a compliant piezoelectric micro gripper towards robotic micro assembly

Authors: Ravi Kant Jain; Somajyoti Majumder; Bhaskar Ghosh; Surajit Saha

Addresses: Design of Mechanical System/Micro Robotics Laboratory, CSIR-Central Mechanical Engineering Research Institute (CMERI), Durgapur – 713209, India ' Design of Mechanical System/Micro Robotics Laboratory, CSIR-Central Mechanical Engineering Research Institute (CMERI), Durgapur – 713209, India ' Design of Mechanical System/Micro Robotics Laboratory, CSIR-Central Mechanical Engineering Research Institute (CMERI), Durgapur – 713209, India ' Design of Mechanical System/Micro Robotics Laboratory, CSIR-Central Mechanical Engineering Research Institute (CMERI), Durgapur – 713209, India

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.

Keywords: 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.

DOI: 10.1504/IJMMS.2016.075402

International Journal of Mechatronics and Manufacturing Systems, 2016 Vol.9 No.1, pp.3 - 23

Received: 13 Apr 2015
Accepted: 23 Sep 2015

Published online: 19 Mar 2016 *

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