Intelligent Force-Controlled Miniature Gripper Driven by Magnetic Shape Memory Alloy

Abstract:
In this paper, we present a new design for miniature grippers with an integrated force control. Allowing high-speed actuation, compact design and an accurate force-controllability, the gripper is suitable for fast pick and place applications in micro assembly and for miniature parts or components that require high handling accuracy. The gripper’s drive principle, combining a magnetic shape memory (MSM) element with an AlNiCo magnet and an electromagnet to a so-called electro-permanent magnet, is explained and the controllability of this actuation principle is analysed. Finally, a simulation model for transient force control is described. Two control strategies, firstly for an accurate force control and secondly for a high-speed force control, are presented.