Dr. Ashish Dutta

Professor, Dept. of Mechanical Engineering

Email:adutta@iitk.ac.in

Office: Faculty Building Room 338
Phone:91-512-2597562 (Off.), 2598710 (Res)
Fax:91-512-2597408

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