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  Volume 10, Number 1, January 2025 , pages 73-89
DOI: https://doi.org/10.12989/acd.2025.10.1.073
 

Design analysis and system identification of micro gripper with polymer smart actuator
Neeta Sahay, Subrata Chattopadhyay and Tamonash Jana

 
Abstract
    This research paper presents design analysis of a microgripper made up of Thermo-plastic Polyurethane (TPU) material with smart actuation by Ionic Polymer Metal Composite (IPMC) for Micromanipulations. The microgripper has been designed by Pro Release 5.0 software using TPU as the base material which is of very flexible, light weight and low cost. IPMC has been used as the smart actuator which is an Electro active polymer (EAP) operated with low voltage application (1–5 V) for typical sample of dimension 40 mm X 10 mm X 0.2 mm. The gripper is able to provide gripping at its jaw due to deformation of the actuator inserted within it. Displacement analysis has been done using Finite element method (FEM) in ANSYS where the maximum displacement of the gripper jaw has been recorded to obtain the in-put-output characteristics of the structure which is found to be linear in the range of interest. The microgripper system modeling has been done using system identification toolbox in MATLAB where the estimated transfer function model is validated using MATLAB Simulink.
 
Key Words
    displacement analysis; Ionic Polymer Metal Composite (IPMC); microgripper; pro release 5.0; simulink; smart actuation; system identification
 
Address
Neeta Sahay: Department of Electrical and Electronics Engineering Institute of Engineering & Management, Kolkata, Sector V, Saltlake City, Kolkata-700091, West Bengal, India

Subrata Chattopadhyay: Department of Electrical Engineering National Institute of Technical Teachers' Training and Research, Kolkata, Block FC, Saltlake City, Kolkata-700106, West Bengal, India

Tamonash Jana: Department of Mechanical Engineering Institute of Engineering & Management, Kolkata, Sector V, Saltlake City, Kolkata-700091, West Bengal, India
 

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