Abstract
This paper presents the design and implementation of a novel soft gripper using Arc-shaped Shape Memory Alloy (SMA) actuators. The manipulator is designed to have compliance, making it suitable for grasping various objects including irregularly shaped or soft objects. The SMAs are activated by heating, causing them to contract and generate force. By controlling the heating of the SMAs, the manipulator can be controlled to move and grasp or hold objects. The design of the manipulator is described, including the selection of SMAs and the control scheme used to activate them. The performance of the manipulator is evaluated through experiments, which demonstrate its ability to perform various manipulation tasks. The results show that the use of SMAs allows for compliant and flexible manipulation can be achieved.
