Ms. ChavanMadhura

Mr. Narendra Naukudkar

Mr. S. B. Kumbhar

Dr. Ganesh Kakandikar

Dr. Vilas Nandedkar

Abstract

In this paper, Design and Development of Robotic Gripper actuated by Shape Memory Alloy [SMA] is presented. The purpose is to research on the Shape Memory Alloy Characteristics and applying the concepts in thefield ofRoboticsfor applications. NiTi wires are experimentally investigated to evaluate the effect of loading history on the transformation start conditions of the shape memory alloys. Actuation mechanism is designed using a combination oftorsion spring and Shape Memory Alloy spring. SMA wires of various diameters are trained to characterise like spring and are tested for expansion and compression time responses with optimum currentfor actuation. Experimental results show that the grippers are able to track the position rapidly and precisely.

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