Development of SMA-Actuated Microgripper in Micro Assembly Applications

A micro assembly system with SMA-actuated microgripper for adhesive bonding is developed. With the design axioms in the process of design, assembly, and manufacturing, a micro assembly system can be effectively realized to satisfy the requirements in assembly operations. In the micro assembly system, a polymer microgripper actuated by an arc-type SMA is designed and employed as an end effector. With the microgripper, a visual control system is integrated to provide the functions of gripping micro object, gluing adhesive, and operating adhesive bonding. In the performance test, a 20 mum diameter metal wire is gripped, transported, glued, and assembled to a 380 mum metal wire under visual control.