Object grip, grasp, hold and place type of tasks incorporate specific engineering design concepts. Considering such principals, eight gripper mechanisms were designed and produced which can be classified as micro grippers due to their small workspace, precise grasping and holding abilities. Common characteristics of all the designs are that, without using any electric motor, the open–close operation is by virtue of shape-memory alloys. Each gripper is designed for different purposes with different operational principles of which four were initially open and the other four were initially closed configurations. Parametric studies were performed by changing the duty cycle and frequency of pulse width modulation using a signal generator followed by measurement of gripper jaw clearance, open–close period, average open–close velocities, gripping force, holding and lifting abilities of the designed gripper mechanisms. Jaw displacement and velocity parameters were computed by image processing of video records captured during the operation of the gripper mechanisms.

对象抓握，抓握，握持和放置任务类型包含特定的工程设计概念。考虑到这些原理，设计并生产了八个夹持器机构，由于它们的工作空间小，精确的抓握和保持能力，它们可以被分类为微型夹持器。所有设计的共同特点是，无需使用任何电动机，开闭操作就依靠形状记忆合金。每个夹持器设计用于不同目的，具有不同的操作原理，其中四个最初处于打开状态，另外四个最初处于关闭状态。通过使用信号发生器更改占空比和脉宽调制频率来进行参数研究，然后测量夹爪间隙，打开-关闭时间，平均打开-关闭速度，抓地力，所设计的夹持器机构的夹持和提升能力。通过在抓取器机构操作期间捕获的视频记录进行图像处理，计算下颌的位移和速度参数。