A Shape Memory Alloy Smart Handling System for Advanced Manufacturing Applications

Abstract

This paper presents the design and the realization of an innovative handling system for plane work pieces in production and assembly industry. The system consists of an adaptive end-effector endowed with energy-efficient vacuum grippers. Shape memory alloy (SMA) actuator wires are used to actively reconfigure the gripping arms as well as to activate the vacuum suction cups. SMA technology enables the system to be versatile, and the inherent self-sensing features allow the implementation of advanced maintenance and sensorless control strategies. For each of the two components of the system (i.e., reconfigurable gripper and suction cup), design and operating principle are discussed in detail. Experimental results are then presented, and system performance is finally discussed.