ACTUATOR 2016 Manuscript P 34

Author: Hubert Borgmann
Pages: 4
Language: English
Publication date: 01/06/2016
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Manuscript P 34 published in Conference Proceedings ACTUATOR 2016
Reconfigurable SMA End-Effector for Material Handling

P. Motzki1, 2, Y. Goergen1, 2, A. York2, S. Seelecke1, 2
1 ZeMA – Zentrum für Mechatronik und Automatisierungstechnik gGmbH, Saarbrücken, Germany
2 Universität des Saarlandes, Saarbrücken, Germany

A first prototype of an SMA-based reconfigurable end-effector was already presented at the SMA network exhibition booth at the Actuator14. In this paper, the next generation of the first SMA end-effector prototype is presented. The end-effector has four independent gripping arms, which can be positioned within a 90° rotation radius. The main part of this functionality is the use of the “self-sensing” ability of the SMA wires. The resistance feedback of the SMA wires is used for position control of the gripping arms. Also, each gripping arm has a second degree of freedom, which allows it to tilt perpendicular to the rotation plane. The designs of the actuator constructions are presented and a prototype is produced via rapid-prototyping. In conclusion, different application scenarios are presented and discussed.
El vendedor asume toda la responsabilidad de esta entrada.
Hubert Borgmann, MESSE BREMEN,
Project Manager ACTUATOR, International Conference and Exhibition on New Actuators and Drive Systems, Bremen, Germany, and Editor of the ACTUATOR Conference Proceedings (
Project Manager ITHEC, International Conference and Exhibition on Thermoplastic Composites, Bremen, Germany, and Editor of the ITHEC Conference Proceedings (

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