Dr. Ashish Dutta

Indian Institute of Technology

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Dr. Ashish Dutta
Professor, Dept. of Mechanical Engineering
Head, Computer Centre
Email:adutta@iitk.ac.in
Office: Faculty Building Room 338
Phone:91-512-2597562 (Off.), 2598710 (Res)
Fax:91-512-2597408
Research Associate: Biswanath Panda, Anupam Sana
Affiliated Center(s):
1 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