Tactile feedback control for a gripper driven by SMA springs | Zendy

Shaoze Yan | Zendy; Tianfu Yang | Zendy; Xiajie Liu | Zendy; Rencheng Wang | Zendy

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Tactile feedback control for a gripper driven by SMA springs

Author(s) -

Shaoze Yan,

Tianfu Yang,

Xiajie Liu,

Rencheng Wang

Publication year - 2012

Publication title -

aip advances

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.421

H-Index - 58

ISSN - 2158-3226

DOI - 10.1063/1.4745607

Subject(s) - sma* , grasp , actuator , tactile sensor , controller (irrigation) , polyvinylidene fluoride , computer science , shape memory alloy , control system , signal (programming language) , control theory (sociology) , artificial intelligence , robot , engineering , materials science , control (management) , electrical engineering , algorithm , agronomy , composite material , biology , programming language , polymer

This paper presents a gripper actuated by a pair of differential shape memory alloy (SMA) springs with the tactile feedback controller of the polyvinylidene fluoride (PVDF) films. The SMA actuator is heated by the electric current and cooled by the fans, and a proportional-integral (PI) controller is proposed to control the output position of the gripper. In order to handle soft, deformable or slippery objects very well, the PVDF sensor is added to the finger of the gripper to perform the tactile feedback when it grasps the objects. The hardware system is established including data acquisition and signal processing parts, the control system is programmed. Experiments of grasping a soft object are carried out, and the gentle grasp ability of the gripper is also tested. Experiments results show that the SMA gripper with the PVDF tactile sensor could grasp a soft object through controlling tactile forces

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