ROBOTIC GRIPPER ACTUATED USING THE SHAPE MEMORY ALLOY ACTUATORS

Abstract

The article deals with the design of a gripper for a manipulator. The use of a shape memory alloy actuator, which is excited by heating by means of an electric current, is proposed for driving the gripper jaws. Variant solutions of the gripper kinematics and the final design of the gripper arrangement are solved. A gripper kinematics simulation is created to find a suitable gripper geometry.

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Keywords: torque | gauges | etalon | uncertainty | torque wrench