Study And Design Of Robot Gripper Using SMA Actuator

Mohd Adiran Aswad, Ismail (2012) Study And Design Of Robot Gripper Using SMA Actuator. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Nowadays, robots have been widely used in the proper industry. Robot is required because it is easier and speeds up the work done by men. Gripper is a connector between the robot and object. It functions to taking, holding and placing. Usually, it involves repetitive tasks. Actuation is usually provided using hydraulic fluid pressure, pneumatic pressure and mechanical. The common after market is highly in cost and high in maintenance. The main objective of this project is to study and design of robot gripper using SMA actuator. SMA is a different with other actuator in some aspect. SMA actuator is less expensive than others. Advantages in SMA actuation are high power to weight ratio, high corrosion resistance and safe. Additionally, SMA does not require further processing as it can just be cut and used. In this project, prototype of robot gripper with single axis and external grip is developed and manufactured. Robot gripper is designed for a specially defined hold and place operation. It task is to hold a cylindrical workpiece and place it. SMA actuator is used for power generation. Spring and pulley system is used to make the system smooth and perfect. Structures of robot gripper are manufactured from acrylic. The prototype of robot gripper is able to work and function as well.

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