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SMA Actuated Dual Arm Flexible GripperAuthors: Sourav Karmakar,Pravin Mali,Abhishek Sarkar,Madhava Krishna Conference: ADVANCES IN ROBOTICS - 2019 (AIR-2019 2019) Location IIT Madras, Chennai Date: 2019-07-02 Report no: IIIT/TR/2019/79 AbstractRobotic grippers have been designed for grasping a wide variety of objects. This paper presents a novel design of a flexible gripper suitable for gripping circular objects having variable curvatures and different textures. Two rubber belts form the gripper arms, which are used for gripping objects. These rubber belts are attached to DC motors. The motors are fitted in the gripper base . Magnets are attached on the other ends along with an interlocking mechanism. The primary actuation in the gripper is brought about by the Shape Memory Alloy (SMA) wire fitted along the inner side of the rubber belts. On energizing the SMA, the rubber belts bend along with the pre-programmed SMA and the magnets on the two belts come closer. Subsequently, locking is achieved. This forms a loop around the gripping object. The grip of the rubber belts around the object is further tightened by winding them around the shafts of the motors to which they are attached. This helps the gripper to firmly grasp objects of variable diameters. Gripping has been successfully tested on pipes, metal poles, trees with thin and thick stems. Full paper: pdf Centre for Robotics |
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