A Multi-Posture Grasping Manipulator Actuated by Shape Memory Alloy with Different Functional Modules

摘要

Currently, multi-posture robots have complex grasping robotic manipulators with low power density, making it difficult to miniaturize and integrate. In this paper, a multi-posture grasping manipulator actuated by shape memory alloy with different functional modules is presented. It is composed of deflection, translation, rotation and grasping modules. Based on a D-H parameter method, the end motion trajectory model is established and the end motion space is drawn. Finally, the grasping experiment of a light circular object is carried out to verify the validity of the multi-posture grasping function of the multi-module combination manipulator, which provides a choice for future intelligent robot manipulators.