A Self-Sensing Microgripper Module With Wide Handling Ranges

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...

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Published inIEEE/ASME transactions on mechatronics Vol. 16; no. 1; pp. 141 - 150
Main Authors Lan, Chao-Chieh, Lin, Che-Min, Fan, Chen-Hsien
Format Journal Article
LanguageEnglish
Published New York IEEE 01.02.2011
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Capacitive sensors
Fingers
Flexure
Force control
Grippers
Handling
Humans
Materials handling
Mathematical models
microgripper
micromanipulation
Modules
Motion control
Predictive models
Robots
self-sensing
shape memory alloy (SMA)
Shape memory alloys
Weight control
Wire
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Abstract 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.
AbstractList 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.
Author Che-Min Lin
Chen-Hsien Fan
Chao-Chieh Lan
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  fullname: Fan, Chen-Hsien
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SubjectTerms Capacitive sensors
Fingers
Flexure
Force control
Grippers
Handling
Humans
Materials handling
Mathematical models
microgripper
micromanipulation
Modules
Motion control
Predictive models
Robots
self-sensing
shape memory alloy (SMA)
Shape memory alloys
Weight control
Wire
Title A Self-Sensing Microgripper Module With Wide Handling Ranges
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