Development of Automated Piezoelectric Gripper for Manipulation of Micro Objects

Abstract

Design, fabrication and tests of micro gripper were performed. The geometry design and the material stresses were considered through the finite element analysis. The simulation model was used to study in detail profiles of von Mises stresses and deformation. Manufactured hinge base microgripper with piezoelectric sensor. An app was made that connect with Bluetooth and Arduino to the piezoelectric actuator to show the distance and force required for the gripper jaws. Results can be shown by microscopic view. Detailed mechanical design of the gripper dully verified by the FEM analysis. Manufacturing of micro scale robotic device is usually possible by electro discharge machining (EDM) technology, it is the machining process which use wire discharging. Here we used aluminum 7075 rather than 6061 because 7075 aluminum is more versatile alloy and have greater strength. On the other hand, 6061 aluminum alloy is 1.5 times weaker than 7075 in strength, tensile strength and versatility. This aluminum can bear more land and at this micro stage gripping it is best material which can use. Our main objectives are manufacturing of the designed gripper using EDM technology and design and development of control electronics for the operation of microgripper then we have to fully automate by using software/app tools. Our achievements are completed which include experimental testing of micro gripper, design and manufacturing of microgripper using hinges-based concept. Static and dynamic deformation analysis have been performed on ANSYS software. Experimental testing of Piezoelectric gripper with microcontroller (Arduino) have been performed. We have completed our Mathematical modeling of our required structure by applying different types of forces on the hinges of gripper so that it will not break while functioning as the aluminum is very sensitive material and can bend easily while working. A professional app is made on MIT app inventor for controlling the gripper and showing results. Coding of App and Arduino with Bluetooth protocol can be shown as Annex. The objective to develop a low-cost marketable product along with critique-based research was the main focus of the project.