Shape Memory Alloy Based Soft gripper

被引：0
作者：
Baek, Hangyeol [1 ]
Khan, Abdul Manan [1 ]
Bijalwan, Vishwanath [1 ]
Kim, Youngshik [1 ]
机构：
[1] Hanbat Natl Univ, Dept Mech Engn, 125 Dongseo Daero, Daejeon 34158, South Korea
来源：
PROCEEDINGS OF THE ASME 2023 32ND CONFERENCE ON INFORMATION STORAGE AND PROCESSING SYSTEMS, ISPS2023 | 2023年
关键词：
ACTUATORS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the design and implementation of a novel soft gripper using Arc-shaped Shape Memory Alloy (SMA) actuators. The manipulator is designed to have compliance, making it suitable for grasping various objects including irregularly shaped or soft objects. The SMAs are activated by heating, causing them to contract and generate force. By controlling the heating of the SMAs, the manipulator can be controlled to move and grasp or hold objects. The design of the manipulator is described, including the selection of SMAs and the control scheme used to activate them. The performance of the manipulator is evaluated through experiments, which demonstrate its ability to perform various manipulation tasks. The results show that the use of SMAs allows for compliant and flexible manipulation can be achieved.
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页数：3
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