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.
ACTUATOR 2016 Manuscript P 34
Publication date: 01/06/2016
Manuscript P 34 published in Conference Proceedings ACTUATOR 2016
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