A Self-Sensing Microgripper Module With Wide Handling Ranges

  title={A Self-Sensing Microgripper Module With Wide Handling Ranges},
  author={Chao-Chieh Lan and Che-Min Lin and Chen-Hsien Fan},
  journal={IEEE/ASME Transactions on Mechatronics},
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… CONTINUE READING
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