A shape memory alloy actuated microgripper with wide handling ranges
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Start Page
12
End Page
17
ISSN
21596247
21596255
ISBN (of the container)
9781479957361
9781467325752
9781424412648
9781424480319
9781467391078
1424412641
9781509020652
9781424428533
0780377591
9798350355369
Date Issued
2009
Author(s)
Abstract
A compliant two-fingered microgripper was designed, fabricated, and demonstrated. To accommodate objects of various sizes and weights, the gripper is distributively actuated by shape memory alloy (SMA) wires so that high gripping range to gripper length ratio and mechanical advantage are achieved. A SMA actuated gripper model is presented to predict SMA strain and gripper deflection by using measurements from force sensors. Based on this model, design of finger shape and specification of SMA wire dimension are facilitated. Two grippers with different stiffness are prototyped and their motion characteristics demonstrated. Due to the large stress provided by SMA wires, high gripping force can be obtained. The SMA contraction force to deflect gripper and produce gripping force may be adjusted by changing the input power to SMA wire. We further investigate the feasibility of self-sensing contraction force by using SMA resistance signal. With the capabilities of the gripper shown, we expect that it can be applied for miniature robotic manipulations.
Event(s)
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Subjects
Flexure
Force Sensors
Microgripper
Micromanipulation
Self-sensing
Shape Memory Alloy
Flexure
Force Sensors
Microgripper
Micromanipulation
Self-sensing
Shape Memory Alloy
Alloys
Asymptotic Analysis
Intelligent Mechatronics
Mechatronics
Micromanipulators
Sensors
Shape Memory Effect
Shrinkage
Wire
Grippers
Description
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. Singapore. conference code:78051
Type
conference paper