Single active finger IPMC microgripper

This paper presents a new design for a single active finger ionic polymer metal composite (IPMC) microgripper. This design has one stationary finger and one actuating finger. The gripper is tested in comparison with a two fingered gripper (2FG) on its ability to perform pick and place operations. The grippers each use IPMC strips in three widths: 1.25 mm, 2.5 mm and 5.0 mm. The single fingered gripper shows success rates of 86.2%, 89.2%, and 75% respectively versus 78.5%, 93.9% and 75% for a 2FG. The single fingered gripper performance is nearly equivalent to that of a 2FG. Even though a single finger produces half the force, its ability to carry objects is as good as or better than a 2FG. In addition, the stationary finger is considerably stiffer than an active IPMC finger, which helps in positional accuracy. Using half the IPMC, the single fingered gripper is the economical choice.