Daniel-Gheorghe Vela 1, Ion Vela 2, Calin-Octavian Miclosina 1*
1 Babeș-Bolyai University, Faculty of Engineering, Department of Engineering Science
Traian Vuia Square, no. 1-4, 320085 Reşiţa, Romania
2 Technical Sciences Academy of Romania, Petroșani Branch
University Street, No. 20, 332006 Petroșani, Romania
* Corresponding author. E-mail: calin.miclosina@ubbcluj.ro
Robotica & Management, Vol. 28, No. 2, pp. 55-58
DOI: https://doi.org/10.24193/rm.2023.2.10
Abstract: This paper presents the kinetostatic calculus for a robotic prehension device driven by shape memory alloy elements. The constructive-functional scheme is presented, as well as the forces that occur in the prehension process. In order to maintain the workpiece orientation and fixing, the prehension force expression and the relation of the necessary driving force are determined.
Keywords: kinetostatics, prehension device, gripper, shape memory alloys, SMA.
References
[1] Amariei D., Vela I., Ziegler W.: ,,Implement of shape memory alloy actuators in a robotic hand” , Analele Universităţii „Eftimie Murgu” Reşiţa, ISSN 1453-7394, Nr. 1, 2006, pp.15-18.
[2] Amariei D., Meason Y., Vela, I.: „Analysis and Design of Thermal Actuators”, Analele Universităţii „Eftimie Murgu” Reşiţa, ISSN 1453-7394, Nr. 1, 2007, pp.15-18.
[3] Amariei D., Vela I.: „Shape Memory Alloys Actuators in Robotic Applications”, Robotica & Management, Vol. 12, No. 2, 2007, pp. 36-39.
[4] Amariei D., Vela, I., Gillich G.-R., Răduca E.: “Shape memory alloy actuator for robotic grippers actuated by two pairs of active springs”, The 20th International DAAAM Symposium “Intelligent Manufacturing & Automation: Theory, Practice & Education”, 25-28th November 2009, Viena, Austria, Annals of DAAAM for 2009 & Proceedings of the 20th International DAAAM Symposium, pp. 1307-1308.
[5] Amariei D., Vela I., Gillich G.-R., Micloşină C.O.: “Model Equations of Shape Memory Effect – Nitinol”, Analele Universităţii “Eftimie Murgu” Reşiţa, Fascicola de Inginerie, ISSN 1453-7394, anul XVII, Nr. 2, 2010, pp. 11-16.
[6] Amariei D.D.: “Cercetări privind dispozitivele de prehensiune acţionate de actuatori din aliaje cu memoria formei ale roboţilor industriali / Research on prehension devices driven by shape memory alloy actuators of industrial robots”, doctoral thesis, scientifical coordinator Vela I., “Eftimie Murgu” University of Resita, 2015.
[7] Bizau I.V.: “Cercetări privind construcţia şi funcţionarea transmisiilor armonice, având generatorul de unde cu elemente din aliaje cu memoria formei / Research on the construction and operation of harmonic transmissions, having wave generator with shape memory alloy elements”, doctoral thesis, scientifical coordinators Vela I., Nedelcu D., “Eftimie Murgu” University of Resita, 2014.
[8] Cheng S.S., Kim Y., Desai J.P.: “Towards Real-Time SMA Control for a Neurosurgical Robot: MINIR-II”, Robotics Research, Vol 1, pp. 187-200, 2018.
[9] Lungu I.: “Cercetări privind dezvoltarea actuatorilor liniari şi rotativi pe bază de aliaje cu memoria formei, cu aplicaţii în sistemele de tip microfabrică / Research on the development of linear and rotary actuators based on shape memory alloys with applications in micro-factory systems”, doctoral thesis, scientifical coordinator Csibi V.I., Technical University of Cluj-Napoca, 2010.
[10] Miclosina C., Vela I., Gillich G.R., Amariei D., Vela D.: „On the Use of Robotic Grippers with Shape Memory Alloy Actuators in Handling Light-Weight Workpieces”, Annals of DAAAM for 2007 & Proceedings of the 18th International DAAAM Symposium “Intelligent Manufacturing & Automation: Focus on Creativity, Responsibility, and Ethics of Engineers”, 2007, pp. 451-452.
[11] Sinkar A., Pandey A., Mehta C., Karthick S., Jayachandran S., Akash K., Palani I.A.: “Design and Development of Wall Climbing Hexapod Robot with SMA Actuated Suction Gripper”, International Conference on Robotics and Smart Manufacturing (ROSMA2018), Procedia Computer Science, Vol. 133, pp. 222-229, 2018.
[12] Takumi I., Sumito N.: “SMA micro-hand implemented in small robot for generating gestures”, Intelligent Service Robotics, Vol. 14, Issue 3, pp. 399-408, 2021.
[13] Vela I., Vela D.G., Miclosina C.: “Dispozitiv de prehensiune acţionat cu elemente din aliaje cu memoria formei / Prehension device actuated with elements made of shape memory alloys”, patent application RO134829 (A0), OSIM – Oficiul de Stat pentru Invenţii şi Mărci / State Office for Inventions and Trademarks, 2020.
[14] Wang J.H., Xu, F., Yan S., Wen S.Z.: „Electrothermal driving mechanism for SMA spring actuators”, Materials Science Forum, 423-424, 461-466, 2003.
[15] Waram T. 1990. ‘‘Design Principles for Ni-Ti Actuators”, Engineering Aspects of Shape Memory Alloys, Butterworth-Heinemann, London, pp. 234-244, 1990.