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A Multi-Posture Grasping Manipulator Actuated by Shape Memory Alloy with Different Functional Modules.
1Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, China.
Micromachines
|November 27, 2024
Summary
This study introduces a novel multi-posture robotic manipulator using shape memory alloy modules for versatile grasping. The compact design offers a promising solution for future intelligent robot manipulators.
Area of Science:
- Robotics
- Materials Science
- Mechanical Engineering
Background:
- Current multi-posture robotic manipulators face challenges with low power density, hindering miniaturization and integration.
- Existing designs often lack the dexterity required for complex grasping tasks.
Purpose of the Study:
- To present a novel multi-posture grasping manipulator actuated by shape memory alloy (SMA).
- To demonstrate a modular design enabling deflection, translation, rotation, and grasping functionalities.
- To validate the manipulator's effectiveness in grasping tasks.
Main Methods:
- A multi-posture grasping manipulator was designed using shape memory alloy actuators and functional modules.
- The Denavit-Hartenberg (D-H) parameter method was employed to establish the end-effector motion trajectory model.
- The end-effector's motion space was analyzed and visualized.
- A grasping experiment involving a light circular object was conducted.
Main Results:
- The developed manipulator successfully demonstrated multi-posture grasping capabilities.
- The modular design integrated deflection, translation, rotation, and grasping functions effectively.
- The D-H parameter modeling accurately predicted the end-effector's motion trajectory.
- The experiment confirmed the manipulator's validity for grasping tasks.
Conclusions:
- The shape memory alloy-actuated, multi-module manipulator offers a viable solution for advanced robotic grasping.
- The compact and integrated design addresses limitations of current robotic manipulators.
- This development provides a new option for the advancement of intelligent robot manipulators.
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