Investigation into the force distribution mechanism of a soft robot gripper modeled for picking complex objects using embedded shape memory alloy actuators

The technical approach of embedded shape memory alloy actuators (ESMAA) is presented herein. Three SMA springs are embedded in each silicone elastomer liquid at room temperature to form embedded SMA actuator rods used in designing a soft robot gripper. Just as human fingers make gestures to grab, so is the structure configured to perform humanoid gripping. Thus, this paper introduces the mechanical characteristics of an actuated soft robot gripper displaying some level of changeable but stable gripping force as well as an investigation into the force distribution mechanism occurring between the actuator and the host medium. The structure has soft fingers with two- degrees-of-freedom (2-DOFs) each. It is light in weight and can be controlled with ease. Tests show that the structure can perform some considerable anthropopathic actions such as bending and gripping objects of complex shapes.