Development of Multi Micro Manipulation System Using IPMC Micro Grippers

This paper presents a new design of multi micro manipulation system using ionic polymer metal composite (IPMC) micro grippers for robotic micro assembly where IPMC is used as a light weight actuator for developing the micro grippers. It has the potential of large displacement, low mass force generation and misalignment compensation ability during micro manipulation. These capabilities are utilized for handling of miniature parts like pegs. The analysis of IPMC micro gripper and manipulator are carried out for developing a multi micro manipulation system that can handle pegs in micro assembly operation for shifting one to another hole position in a large work space (100 mm × 100 mm). By developing a prototype, it is demonstrated that IPMC based micro grippers are capable of handling the peg-inhole assembly tasks in a multi micro manipulation system

Affordable flexible hybrid manipulator for miniaturised product assembly

Miniaturised assembly systems are capable of assembling parts of a few millimetres in size with an accuracy of a few micrometres. Reducing the size and the cost of such a system while increasing its flexibility and accuracy is a challenging issue. The introduction of hybrid manipulation, also called coarse/fine manipulation, within an assembly system is the solution investigated in this thesis. A micro-motion stage (MMS) is designed to be used as the fine positioning mechanism of the hybrid assembly system. MMSs often integrate compliant micro-motion stages (CMMSs) to achieve higher performances than the conventional MMSs. CMMSs are mechanisms that transmit an output force and displacement through the deformation of their structure. Although widely studied, the design and modelling techniques of these mechanisms still need to be improved and simplified. Firstly, the linear modelling of CMMSs is evaluated and two polymer prototypes are fabricated and characterised. It is found that polymer based designs have a low fabrication cost but not suitable for construction of a micro-assembly system. A simplified nonlinear model is then derived and integrated within an analytical model, allowing for the full characterisation of the CMMS in terms of stiffness and range of motion. An aluminium CMMS is fabricated based on the optimisation results from the analytical model and is integrated within an MMS. The MMS is controlled using dual-range positioning to achieve a low-cost positioning accuracy better than 2µm within a workspace of 4.4×4.4mm2. Finally, a hybrid manipulator is designed to assemble mobile-phone cameras and sensors automatically. A conventional robot manipulator is used to pick and place the parts in coarse mode while the aluminium CMMS based MMS is used for fine alignment of the parts. A high-resolution vision system is used to locate the parts on the substrate and to measure the relative position of the manipulator above MMS using a calibration grid with square patterns. The overall placement accuracy of the assembly system is ±24µm at 3σ and can reach 2µm, for a total cost of less than £50k, thus demonstrating the suitability of hybrid manipulation for desktop-size miniaturised assembly systems. The precision of the existing system could be significantly improved by making the manipulator stiffer (i.e. preloaded bearings…) and adjustable to compensate for misalignment. Further improvement could also be made on the calibration of the vision system. The system could be either scaled up or down using the same architecture while adapting the controllers to the scale.Engineering and Physical Sciences Research Council (EPSRC

Investigation of the use of Electro Active Polymer as a Pediatric VAD Driver

Background Heart failure is one of the principal causes of death and disability. The causes of heart failure are many, and a number of technologies have been developed to address this issue by providing support to the failing heart, both as a permanent solution and as a bridge to recovery. These options are called Mechanical Circulatory Support Devices, a particular branch of these devices is the Ventricular Assist Devices, which have been under intense development over the recent years offering a promising solution for this major problem. However, these devices are still bulky, and heavy designed to support failing hearts in the adult population. On the other hand, little has been done in recent times on the development of implantable solutions for heart failure or insufficiency in children. There are many reasons for this, but primarily the relatively small number of children requiring these procedures, the challenges associated with growth, and the lack of physical space for such implantable circulatory support technologies in children are fundamental limitations to the development and deployment of these technologies. Aims of the project The primary purpose of this project was to investigate the development of a new miniaturised self-power VAD that is suitable for paediatrics implantation. This project suggested the use of the newly developed Artificial Muscles to create a mesh that envelops the heart and works as an external assisting circulation mechanism. The same materials could be used to generate electricity when deformed, which can be used to power the proposed device. Critically, the project was to focus on optimising the materials with regard to their operating efficiency to ascertain whether they represent a viable option for VAD production. Materials and Methods A full review of the current available Artificial Muscles was performed to choose the most suitable type for this project. Then different fabrication protocols were developed to make IPMC Artificial Muscles using platinum and palladium coatings. A series of characterization tests were conducted on the fabricated Ionic Polymeric Metal Composites (IPMC) to ensure their quality. Finally, the mechanical and electrical properties were tested and compared with the proposed device requirements. Results The review of Artificial Muscles showed that IPMC would be the best candidate to use in this application. The characterisation tests showed as well that the produced IPMC Artificial Muscles were fabricated to the same standards as those commercially available, and the reported by other investigators. However, these materials showed very low mechanical output with high electrical power consumption, which made them far from practical and not suitable for the proposed application. On the other hand, IPMCs showed promising results as an option to generate electricity to power low consumption implantable devices