A shape memory alloy actuated microgripper with wide handling ranges

Che Min Lin, Chen Hsien Fan, Chao-Chieh Lan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages12-17
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 4
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 2009 Jul 142009 Jul 17

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Country/TerritorySingapore
CitySingapore
Period09-07-1409-07-17

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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