A novel dual-stage shape memory alloy actuated gripper

Abstract

Purpose The paper aims to propose a novel dual-stage shape memory alloy (SMA) actuated gripper (DAG), of which the grasp performance is improved through primary and secondary actuation. Design/methodology/approach This paper presents a method of integrating the design of dual-stage actuation modules based on the SMA bias actuation principle to enhance the grasping shape adaptability and force modulation of a DAG. The actuation angle range and grasping performance of the DAG are investigated by thermomechanical analysis and the finite element method based numerical simulation. Findings The results of present experiments and simulations indicate that the actuation angle scope of the DAG is about 20° under no load, which enables the grasping space occupied by an object in the DAG from 60 mm to 120 mm. The grasping force adjusted by changing the input power of the primary main actuation module and secondary fine-tuning actuation module can reach a maximum of 2 N, which is capable of grasping objects of various sizes, weights, shapes, etc. Originality/value The contribution of this paper is to design a DAG based on SMA, and establish the solution methods for the primary main actuation module and secondary fine-tuning actuation module, respectively. It lays a foundation for the research of lightweight and intelligent robotic grippers.

A fast actuated soft gripper based on shape memory alloy wires

“…The total length of SMA wires in the winding structure can be calculated by: l to = πr j + d j − 2r j + 2l 3 + 2l 2 + 18l 1 + 19π r p (7) where d j , r j , r p , l 1 , l 2 , l 3 represent the parameters of SMA wires arranged at different positions in the soft gripper, respectively. The displacement of the element end in x direction is obtained by solving its geometric relationship, which is expressed as follow:…”

“…With the continuous development and application of intelligent actuation technology in the field of robotics, more and more researchers have applied it to the soft gripper of robots [1][2][3][4][5][6]. The soft gripper has a soft structure and adaptability similar to living organisms, which can better adapt to various surfaces, so it has a wide application prospect in the fields of medical treatment, environmental protection, education and other fields [7][8][9]. Conventional rigid grippers often damage * Author to whom any correspondence should be addressed.…”

Design and Experimental Study of Shape Memory Alloy and Piezoelectric Composite Power Generation Device

“…Energy as the basis of national economic development and people’s daily lives are closely linked, but the waste heat generated by energy consumption in industrial production is often discharged in the form of free heat dissipation and cannot be effectively utilized on a large scale, which is not in line with the current social development requirements of energy saving and consumption reduction [ 5 , 6 , 7 , 8 , 9 ]. Shape memory alloy has the characteristics of high driving force, high strength and shape memory, which can be combined with piezoelectricity, electromagnetism and electrostatics for composite energy capture, thus forming a secondary energy reuse [ 10 , 11 , 12 , 13 , 14 , 15 ]. With the advancement of science and technology, piezoelectric materials with high energy density, high response speed and high transduction efficiency are widely used in the field of material energy capture [ 16 , 17 ].…”