TY - JOUR
T1 - A self-sensing microgripper module with wide handling ranges
AU - Lan, Chao Chieh
AU - Lin, Che Min
AU - Fan, Chen Hsien
N1 - Funding Information:
Manuscript received July 9, 2009; revised September 30, 2009; accepted November 13, 2009. Date of publication January 8, 2010; date of current version January 12, 2011. Recommended by Technical Editor G. Yang. This work was supported by the National Science Council of Taiwan under Grant NSC 97-2221-E-006-069-MY2.
PY - 2011/2
Y1 - 2011/2
N2 - A compliant two-fingered microgripper is designed, fabricated, and demonstrated. To mimic human finger actuation, the proposed finger is distributively actuated by a shape memory alloy (SMA) wire. An SMA-actuated finger model is presented to predict SMA strain and finger motion given its contraction force. Based on this model, the finger shape and SMA wire dimension are optimally designed. The gripper is shown to have a wide handling range, high mechanical advantage, and sufficient out-of-plane stiffness; thus, it can accommodate objects of various sizes and weights. To control its motion, the SMA contraction force is estimated by using the proposed force to electrical resistance model. Gained from the simple driving electronics and self-sensing of SMA, the fabricated gripper can be made compact and lightweight. Finally, a self-powered gripper module is attached to a robot arm to perform several illustrative manipulations.
AB - A compliant two-fingered microgripper is designed, fabricated, and demonstrated. To mimic human finger actuation, the proposed finger is distributively actuated by a shape memory alloy (SMA) wire. An SMA-actuated finger model is presented to predict SMA strain and finger motion given its contraction force. Based on this model, the finger shape and SMA wire dimension are optimally designed. The gripper is shown to have a wide handling range, high mechanical advantage, and sufficient out-of-plane stiffness; thus, it can accommodate objects of various sizes and weights. To control its motion, the SMA contraction force is estimated by using the proposed force to electrical resistance model. Gained from the simple driving electronics and self-sensing of SMA, the fabricated gripper can be made compact and lightweight. Finally, a self-powered gripper module is attached to a robot arm to perform several illustrative manipulations.
UR - http://www.scopus.com/inward/record.url?scp=78651376040&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651376040&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2009.2037495
DO - 10.1109/TMECH.2009.2037495
M3 - Article
AN - SCOPUS:78651376040
SN - 1083-4435
VL - 16
SP - 141
EP - 150
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 1
M1 - 5373865
ER -