典型文献
A novel shape memory alloy actuated soft gripper imitated hand behavior
文献摘要：
The limited length shrinkage of shape memory alloy(SMA)wire seriously limits the motion range of SMA-based gripper.In this paper,a new soft finger without silicone gel was designed based on pre bent SMA wire,and the finger was back to its original shape by heating SMA wire,rather than relying only on heat exchange with the environment.Through imitating palm movement,a structure with adjustable spacing between fingers was made using SMA spring and rigid spring.The hook structure design at the fingertip can form self-locking to further improve the load capacity of gripper.Through the long thin rod model,the relationship of the initial pre bent angle on the bending angle and output force of the finger was analyzed.The stress-strain model of SMA spring was established for the selection of rigid spring.Three grasping modes were proposed to adapt to the weight of the objects.Through the test of the gripper,it was proved that the gripper had large bending amplitude,bending force,and response rate.The design provides a new idea for the lightweight design and convenient design of soft gripper based on SMA.
文献关键词：
中图分类号：
作者姓名：
Jie PAN;Jingjun YU;Xu PEI
作者机构：
School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China
文献出处：
引用格式：
[1]Jie PAN;Jingjun YU;Xu PEI-.A novel shape memory alloy actuated soft gripper imitated hand behavior)[J].机械工程前沿,2022(04):255-266
A类：
imitated
B类：
novel,shape,memory,alloy,actuated,soft,gripper,hand,behavior,limited,length,shrinkage,SMA,wire,seriously,limits,motion,range,In,this,paper,new,without,silicone,gel,was,designed,pre,bent,back,original,by,heating,rather,than,relying,only,exchange,environment,Through,imitating,palm,movement,structure,adjustable,spacing,between,fingers,made,using,spring,rigid,hook,fingertip,can,form,self,locking,further,improve,load,capacity,long,thin,rod,model,relationship,initial,angle,bending,output,force,analyzed,stress,strain,established,selection,Three,grasping,modes,were,proposed,adapt,objects,test,proved,that,had,large,amplitude,response,rate,provides,idea,lightweight,convenient
AB值：
0.555132
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
