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A Lightweight Bioinspired SMA-Based Grasping Mechanism for Flapping Wing MAVs.

Ahmad Hammad¹, Mehmet Süer¹, Sophie F Armanini^1,2

¹Chair of eAviation, Department of Aerospace and Geodesy, TUM School of Engineering and Design, Technical University Munich, 80333 Munich, Germany.

Biomimetics (Basel, Switzerland)

|June 25, 2025

Summary

This summary is machine-generated.

Researchers developed a novel bioinspired gripper for flapping wing micro aerial vehicles (FWMAVs). This lightweight, compliant mechanism uses shape memory alloys (SMAs) for efficient perching and grasping.

Keywords:

FWMAVs aerial robotics bioinspiration gripper shape memory alloys

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Area of Science:

Robotics and Bio-inspired Engineering
Micro Aerial Vehicle Technology

Background:

Flapping wing micro aerial vehicles (FWMAVs) require advanced landing and takeoff mechanisms.
Existing actuators often lack the necessary miniaturization and power-to-weight ratio for FWMAVs.

Purpose of the Study:

To present a novel, bioinspired perching gripper for FWMAVs.
To enhance the landing, takeoff, and manipulation capabilities of FWMAVs.

Main Methods:

Designed a lightweight gripper inspired by the human hand.
Integrated a compliant claw structure actuated by shape memory alloy (SMA) springs.
Optimized phalange lengths and selected SMAs for reliable performance.

Main Results:

The 50 g gripper demonstrated fast actuation via electrical impulses.
Achieved a grasping force of approximately 16 N for holding various objects.
Successfully performed perching, grasping, and carrying tasks.

Conclusions:

The SMA-actuated gripper offers a simpler, highly integrated, and miniaturized solution.
Enhanced adaptability and high power-to-weight ratio make it ideal for FWMAVs.
This mechanism significantly improves FWMAV operational capabilities.