ROMANSY 11 pp 123-130 | Cite as

Optimal Design of a Shape Memory Alloy Actuator for Microgrippers

  • N. Troisfontaine
  • Ph. Bidaud
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


In this paper, a modular microactuator based on shape memory alloy (SMA) actuation to drive the joints of a microgripper is described. Its design is a combination of two SMA actuators installed on the links of a special mechanism: one of them drives the rotation of the joint and the other one produces the necessary force to manipulate objects. An accurate model of the thermo-mechanical behavior of SMA fibers is proposed for the design of SMA actuators. The main performances of this microactuator are presented and discussed.


Shape Memory Alloy Martensite Phase Shape Memory Effect Austenite Phase Force Transmission 
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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • N. Troisfontaine
    • 1
  • Ph. Bidaud
    • 1
  1. 1.Laboratoire de Robotique de ParisVélizyFrance

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