A self-sensing microgripper module with wide handling ranges

Chao Chieh Lan, Che Min Lin, Chen Hsien Fan

研究成果: Article同行評審

71 引文 斯高帕斯(Scopus)


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.

頁(從 - 到)141-150
期刊IEEE/ASME Transactions on Mechatronics
出版狀態Published - 2011 2月

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電腦科學應用
  • 電氣與電子工程


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