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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Self-Sensing Microgripper Module With Wide Handling Ranges
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A Self-Sensing Microgripper Module With Wide Handling Ranges

机译：具有宽操作范围的自感应微抓手模块

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摘要

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.
机译：设计，制造和演示了一种顺应性的两指式微型抓取器。为了模仿人的手指致动，所提出的手指由形状记忆合金（SMA）线分布式致动。提出了SMA驱动的手指模型，以预测SMA的应变和手指的收缩力。基于此模型，手指形状和SMA导线尺寸得到了最佳设计。所示的夹持器具有宽阔的处理范围，较高的机械优势和足够的平面外刚度；因此，它可以容纳各种尺寸和重量的物体。为了控制其运动，通过使用建议的电阻力模型来估计SMA收缩力。得益于简单的驱动电子设备和SMA的自感应功能，可以将制作的抓爪紧凑而轻巧。最后，将自供电的抓取器模块连接到机械臂，以执行多种说明性操作。

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