Kinetostatics of a Robotic Prehension Device Driven by Shape Memory Alloy Elements

Kinetostatics of a Robotic Prehension Device Driven by Shape Memory Alloy Elements

This paper presents the kinetostatic calculus for a robotic prehension device driven by shape memory alloy elements. The constructive-functional scheme is presented, as well as the forces that occur in the prehension process. In order to maintain the workpiece orientation and fixing, the prehension...

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Veröffentlicht in:Robotică şi management (Reșița) 2023-12, Vol.28 (2), p.55-58
Hauptverfasser: Vela, Daniel-Gheorghe, Vela, Ion, Miclosina, Calin-Octavian
Format: Artikel
Sprache:eng
Schlagworte:
gripper
kinetostatics
prehension device
shape memory alloys
sma
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Zusammenfassung:This paper presents the kinetostatic calculus for a robotic prehension device driven by shape memory alloy elements. The constructive-functional scheme is presented, as well as the forces that occur in the prehension process. In order to maintain the workpiece orientation and fixing, the prehension force expression and the relation of the necessary driving force are determined.
ISSN:1453-2069
2359-9855
DOI:10.24193/rm.2023.2.10