Lightweight and High-Payload Robotic Gripper Using Shape-Memory-Alloy Actuator and Self-Locking Mechanism

Lightweight and High-Payload Robotic Gripper Using Shape-Memory-Alloy Actuator and Self-Locking Mechanism

This study proposes a novel lightweight robotic gripper with a high-payload capacity using shape-memory-alloy (SMA) actuators and a self-locking mechanism. The multi-joint fingers of the developed gripper are driven by flexible SMA actuators. This multi-link structure and the SMA actuator&#x2019...

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Bibliographic Details
Main Authors: Toshihiro Nishimura, Keisuke Akasaka, Kosei Ueno, Yosuke Suzuki, Tokuo Tsuji, Tetsuyou Watanabe
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Robotic gripper
mechanism design
grasping
end-effector
shape-memory alloy actuator
Online Access:https://ieeexplore.ieee.org/document/11075651/
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