Fabrication a practical SMA actuated gripper

In this paper, the fabrication of a gripper actuated by shape memory alloy wire is performed. This system has the advantage of the small linear displacement of the slider connected to the shape memory alloy wire, to convert it into angular movement of the gripping fingers. In this paper, in according to the designing objectives, the structure of gripper is physically fabricated after simulating in MSC.ADAMS. Afterwards, the physical prototype and its mechanical and electrical properties are presented. Later on, some experiments are designed and accomplished and the experimental results for tip displacement of the fingers are discussed. The results show that the prototyped gripper has suitable performance and the fingers are returned to their initial positions with a desirable accuracy.