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Development of a Novel Shape Memory Alloy Actuated Soft Gripper
| International Journal of Computer Applications |
| Foundation of Computer Science (FCS), NY, USA |
| Volume 184 - Number 35 |
| Year of Publication: 2022 |
| Authors: Salman Ahmed Shaikh, Jawaid Daudpoto, Sajid Khan |
10.5120/ijca2022922448
|
Salman Ahmed Shaikh, Jawaid Daudpoto, Sajid Khan . Development of a Novel Shape Memory Alloy Actuated Soft Gripper. International Journal of Computer Applications. 184, 35 ( Nov 2022), 35-40. DOI=10.5120/ijca2022922448
Abstract
Shape Memory Alloy (SMA) materials are often used as an activation source for bending actuators as they belong to the class of high power density materials. SMA based soft grippers have good performances in grabbing objects with non-uniform shapes in contrast to their counterpart rigid grippers but their performance is restricted by the small stroke of the SMA wire inside the polymeric matrix and it has also been described as having a low actuation speed, which is considered as a fundamental restriction to its use in a broader variety of applications. The heating and cooling time is the primary limiting cause for its low actuation speed[1]. In this research two types of actuators were developed, one of them was made in such a way that the cotton thread was inserted into the soft polymer and further connected to the SMA wire externally, and in the second type SMA wire, itself inserted into the soft polymer. After performance analysis of both actuators, a two-finger gripper was developed. The maximum bending angle of 44° at 4 sec recovery time was achieved using 160 mm SMA wire embedded in polymer matrix as free sliding wire and the gripper was demonstrated to be fit for grasping different types of objects weighing up to 5-grams
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