Dr. Ashish Dutta

Indian Institute of Technology

Dr. Ashish Dutta
Professor, Dept. of Mechanical Engineering
Office: Faculty Building Room 338
Phone:91-512-2597562 (Off.), 2598710 (Res)
Affiliated Center(s):
 Centre for Mechatronics



Design, analysis and experimentation of a compliant IPMC micro gripper for peg-in-hole assembly using a SCARA robot


Proposed design of compliant IPMC micro gripper






Experimental test setup for SCARA based assembly


Connection diagram for SCARA based peg-in-hole assembly



Testing steps for peg-in-hole assembly


Peg-in-assembly without compliance: Peg is held by SCARA end effector