Design, Fabrication and Vision Based Operational Analysis of Novel Shape Memory Alloy Micro Grippers
Design, Fabrication and Vision Based Operational Analysis of Novel Shape Memory Alloy Micro Grippers
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DOI：
10.1007/s12541-020-00375-z
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发表时间：
2020-07-15
影响因子：
1.9
通讯作者：
Kucuk, Haluk
中科院分区：
文献类型：
--
作者：
Yurtsever, Ozgur;Kucuk, Haluk
物体抓握，抓握，保持和放置类型的任务包含特定的工程设计概念。考虑到这些原则，设计并制作了8种夹持机构，由于其工作空间小，抓取和保持能力精确，可归类为微型夹持机构。所有设计的共同特点是，不使用任何电动机，开合操作是借助于形状记忆合金。每个夹持器设计用于不同的目的，具有不同的操作原理，其中四个为初始开启配置，另外四个为初始关闭配置。通过信号发生器改变脉宽调制的占空比和频率进行参数化研究，然后测量所设计的夹持机构的夹持爪爪间隙、开合周期、平均开合速度、夹持力、夹持和提升能力。通过对抓手机构工作过程中捕获的视频进行图像处理，计算了爪部位移和速度参数。
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.