335 Design and Analysis a Novel Three Finger Gripper Actuated by SMA Wires

In this paper, a gripper actuated by shape memory alloy wire is designed and simulated. This gripper has the advantage of the small linear displacement of the slider connected to the shape memory alloy wire, to convert it into angular movement of the gripper jaws. In this paper, the design and simulation processes are done in two powerful CAD and quasi-real dynamic simulation software, DS.CATIA and MSC.ADAMS, respectively. The gripper jaws are designed so that they are appropriate for gripping of the cylindrical objects in diameter range of 10–50mm.