Design and Development of a Smart Two Fingered Robotic Gripper using Shape Memory Alloys

A major challenge in current soft robotics domain is the need for a light weight, yet flexible end effectors. Due to the increase in the usage of functional materials in mainstream design and applications, an adaptable end effector which can grip and manipulate materials with different densities and mechanical qualities is a necessity for the near future. This paper aims at designing and developing a smart two fingered robotic gripper using shape memory alloys for actuation. This research was intended to study the properties of SMA material with a scope in gripping force for soft robotics and medical robotics fields. A two fingered robotic gripper was fabricated with two sets of SMA wires fastened and supported by using 3D printed bridges. The actuation of the system was given through external power supply. The gripping force on 3 geometries: cube, cylinder and cuboid were calculated and the entire setup is automated to detect components, provide specific gripping force and the automated manoeuvring the object was studied. Experimental results showed better adherence with the appropriate gripping force for each geometry and thus better adaptability to geometry and material.