A novel shape memory alloy actuated soft gripper imitated hand behavior  

作　　者：Jie PAN Jingjun YU Xu PEI 

机构地区：[1]School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China

出　　处：《Frontiers of Mechanical Engineering》2022年第4期261-272,共12页机械工程前沿（英文版）

基　　金：supported in part by the National Natural Science Foundation of China(Grant No.U1813221);the National Key R&D Program of China(Grant No.2019YFB1311200)。

摘　　要：The limited length shrinkage of shape memory alloy(SMA)wire seriously limits the motion range of SMA-based gripper.In this paper,a new soft finger without silicone gel was designed based on pre bent SMA wire,and the finger was back to its original shape by heating SMA wire,rather than relying only on heat exchange with the environment.Through imitating palm movement,a structure with adjustable spacing between fingers was made using SMA spring and rigid spring.The hook structure design at the fingertip can form self-locking to further improve the load capacity of gripper.Through the long thin rod model,the relationship of the initial pre bent angle on the bending angle and output force of the finger was analyzed.The stress-strain model of SMA spring was established for the selection of rigid spring.Three grasping modes were proposed to adapt to the weight of the objects.Through the test of the gripper,it was proved that the gripper had large bending amplitude,bending force,and response rate.The design provides a new idea for the lightweight design and convenient design of soft gripper based on SMA.

关 键 词：shape memory alloy(SMA) pre bent wire GRIPPER grasping mode LIGHTWEIGHT 

分 类 号：TG14[一般工业技术—材料科学与工程]