Kinetostatics of a Robotic Prehension Device Driven by Shape Memory Alloy Elements

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