A Piezoelectric Actuator Based Compact Micro-manipulation System for Robotic Assembly

In this chapter, a novel design of miniature wireless mobile micro-manipulation system (WMMS) for robotic assembly is proposed where a three-piezoelectric actuator fingers’ based compact gripper is developed for handling the small objects. The piezoelectric actuator has the potential of generating displacement in micron range and produces high force after applying voltage for miniature objects. In order to perform pick-and-place operation of the object from one to another position in desired workspace, the kinematics for WMMS is carried out and throughput analysis is performed using ADMAS software. The simulations are obtained and verified by developing a physical prototype. It is also demonstrated that the compact WMMS shows handiness during handling and manipulation of lightweight objects without destructing it in a robust manner during robotic assembly.

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