Abstract
The design and deployment challenges for soft grippers include robustness, miniaturization, speed, and control. Bio mimicking micro robots and systems require simplicity, low power, lower computational requirement, and repeatability. The foremost choice for such systems is to shape memory alloy, due to its large strain and reduced size. This paper primarily deals with the study of the performance of a controller for accelerating the speed of the shape memory alloy (SMA) actuator. The temperature control in SMA is achieved using classical joule's heating method. Conventional temperature control in SMA is developed by using sensors like, thermocouple or thermal imaging sensors. But, for submillimetre diameter SMA actuators, this imposes a physical challenge by physically loading the miniature actuator. Here, a sensor-less temperature estimation method is developed by measuring the resistance variation of SMA during actuation. primarily this experiment is to make an actuator for which shall having some significant role in the field of Soft robotic gripper.
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