A novel dual-stage shape memory alloy actuated gripper

The paper aims to propose a novel dual-stage shape memory alloy (SMA) actuated gripper (DAG), of which the grasp performance is improved through primary and secondary actuation.

This paper presents a method of integrating the design of dual-stage actuation modules based on the SMA bias actuation principle to enhance the grasping shape adaptability and force modulation of a DAG. The actuation angle range and grasping performance of the DAG are investigated by thermomechanical analysis and the finite element method based numerical simulation.

The results of present experiments and simulations indicate that the actuation angle scope of the DAG is about 20° under no load, which enables the grasping space occupied by an object in the DAG from 60 mm to 120 mm. The grasping force adjusted by changing the input power of the primary main actuation module and secondary fine-tuning actuation module can reach a maximum of 2 N, which is capable of grasping objects of various sizes, weights, shapes, etc.

The contribution of this paper is to design a DAG based on SMA, and establish the solution methods for the primary main actuation module and secondary fine-tuning actuation module, respectively. It lays a foundation for the research of lightweight and intelligent robotic grippers.