An SMA-based compliant adjustable constant force gripper for micro-assembly

Ensuring precise and consistent force regulation in a confined workspace is critical for high-quality micro-assembly operations. To enhance structural efficiency and reduce system complexity, this study leverages the variable stiffness properties of the shape memory alloy (SMA) and presents a novel compliant adjustable constant force microgripper. In this work, a passive variable stiffness chained pseudo-rigid-body model is established to address the coupling analysis problem arising from the mechanical and SMA's in-homogeneous phase transformation properties, thereby facilitating the integrated design of the SMA and the mechanism. Exploiting the variable stiffness property of SMA, an improved stiffness-tunable two-beam-binding constant force mechanism is proposed for the gripper jaws, which makes adjustable constant force operation via current control can be achieved straightforwardly. Further, inspired by differential actuation mode, a compact SMA-based actuator comprising two parallel guide mechanisms and SMA drivers is developed to meet the requirement for the large working stroke of the gripper. Numerical simulations and experimental studies validate the design model's efficiency and the proposed structures' capabilities, and also prove the gripper's constant operation force value can be regulated in the range of 0.152 to 0.381 N. With dimensions of 35×56.5×7mm3 and a maximum stroke of 2.077mm, the gripper demonstrates fine compactness and potential for continuous, cross-scale micro-assembly.