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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

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A Multi-Posture Grasping Manipulator Actuated by Shape Memory Alloy with Different Functional Modules.

Xiaozheng Li¹, Chongjing Cao¹

¹Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, China.

|November 27, 2024

Summary

This summary is machine-generated.

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.

Keywords:

grasping manipulator module multi-posture shape memory alloy

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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.