Applications of SMA on driving micro-gripper

• Main Authors: Po-Wei Shih, 施博偉
• Other Authors: Ren-Jung Chang
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/96616676673500751205

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 93 === 　According to the researches of micro-gripping system in the “OME System Lab” in recent years, a polymer micro-gripper actuated by shape memory alloy has been developed. This thesis is based on their experiences and resources, and we improve shortcomings of original micro-gripper. Also, we reduce the maximum size of micro-gripper to under 500micrometer. 　Based on Shape Memory Alloy (S.M.A.) actuator, we strengthen the structure of the actuator. In addition, we describe hysteresis phenomenon of S.M.A. actuator by Preisach Model of numerical implementation. We control S.M.A. actuator to control the opening of micro-gripper through image feedback. According to axioms of functional independence, we can fabricate S.M.A. actuator and micro-gripper simultaneously. Finally, we estimate the grasping force of micro gripper by simulation.