「光機電系統控制研究室」近年來於微夾持系統上之研究，已開發出形狀記憶合金驅動之撓性微夾持器，本文在實驗室既有之微夾持系統上，改善原有夾持系統之缺點，並將微夾持器尺寸縮小到500µm之下；在致動器方面，以形狀記憶合金致動器為基礎，強化致動器結構；此外利用SMA遲滯環模型的建立，透過影像回授，來對形狀記憶合金致動器作控制，以達到夾持系統開口大小的控制。利用致動器與端效器功能獨立的原理，同時進行製造與測試，最後經由軟體的模擬來估測夾持系統之夾持力量。

　According to the researches of micro-gripping system in the “OME System Lab” in recent years, a polymer micro-gripper actuated by shape memory alloy has been developed. This thesis is based on their experiences and resources, and we improve shortcomings of original micro-gripper. Also, we reduce the maximum size of micro-gripper to under 500micrometer.

　Based on Shape Memory Alloy (S.M.A.) actuator, we strengthen the structure of the actuator. In addition, we describe hysteresis phenomenon of S.M.A. actuator by Preisach Model of numerical implementation. We control S.M.A. actuator to control the opening of micro-gripper through image feedback. According to axioms of functional independence, we can fabricate S.M.A. actuator and micro-gripper simultaneously. Finally, we estimate the grasping force of micro gripper by simulation.

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