Design, Fabrication and Vision Based Operational Analysis of Novel Shape Memory Alloy Micro Grippers

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Yurtsever Ö., KÜÇÜK H.

International Journal of Precision Engineering and Manufacturing, cilt.21, sa.9, ss.1697-1716, 2020 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 21 Sayı: 9
  • Basım Tarihi: 2020
  • Doi Numarası: 10.1007/s12541-020-00375-z
  • Dergi Adı: International Journal of Precision Engineering and Manufacturing
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Aerospace Database, Communication Abstracts, Metadex, Civil Engineering Abstracts
  • Sayfa Sayıları: ss.1697-1716
  • Anahtar Kelimeler: Shape memory alloy, Microgripper, Robotics, Video image processing, Actuator, SMA, MICROGRIPPER, SYSTEM
  • Marmara Üniversitesi Adresli: Evet

Özet

© 2020, Korean Society for Precision Engineering.Object grip, grasp, hold and place type of tasks incorporate specific engineering design concepts. Considering such principals, eight gripper mechanisms were designed and produced which can be classified as micro grippers due to their small workspace, precise grasping and holding abilities. Common characteristics of all the designs are that, without using any electric motor, the open–close operation is by virtue of shape-memory alloys. Each gripper is designed for different purposes with different operational principles of which four were initially open and the other four were initially closed configurations. Parametric studies were performed by changing the duty cycle and frequency of pulse width modulation using a signal generator followed by measurement of gripper jaw clearance, open–close period, average open–close velocities, gripping force, holding and lifting abilities of the designed gripper mechanisms. Jaw displacement and velocity parameters were computed by image processing of video records captured during the operation of the gripper mechanisms.