Abstract
This paper presents a computational method to design a compliant finger for robotic manipulations. As traditional mechanical fingers require bulky electromagnetic motors and numerous relative moving parts to achieve dexterous motion, we propose a class of fingers; the manipulation of which relies on finger deflections. These compliant fingers are actuated by shape memory alloy (SMA) wires that exhibit high work-density, frictionless, and quiet operations. The combination of compliant members with embedded SMA wires makes the finger more compact and lightweight. Various SMA wire layouts are investigated to reduce their response time while maintaining sufficient output force. The mathematical models of finger deflection caused by SMA contraction are then derived along with experimental validations. As finger shapes are essential to the range of deflected motion and output force, we find its optimal initial shapes through the use of a shape parametrization technique. We further illustrate our method by designing a humanoid finger that is capable of three-dimensional manipulation. Since compliant fingers can be fabricated monolithically, we expect the proposed design method to be utilized for applications of various scales.
| Original language | English |
|---|---|
| Pages (from-to) | 210091-210099 |
| Number of pages | 9 |
| Journal | Journal of Mechanical Design, Transactions of the ASME |
| Volume | 131 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2009 Feb 1 |
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All Science Journal Classification (ASJC) codes
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications
- Computer Graphics and Computer-Aided Design
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A computational design method for a shape memory alloy wire actuated compliant finger. / Lan, Chao-Chieh; Yang, You Nien.
In: Journal of Mechanical Design, Transactions of the ASME, Vol. 131, No. 2, 01.02.2009, p. 210091-210099.Research output: Contribution to journal › Article
TY - JOUR
T1 - A computational design method for a shape memory alloy wire actuated compliant finger
AU - Lan, Chao-Chieh
AU - Yang, You Nien
PY - 2009/2/1
Y1 - 2009/2/1
N2 - This paper presents a computational method to design a compliant finger for robotic manipulations. As traditional mechanical fingers require bulky electromagnetic motors and numerous relative moving parts to achieve dexterous motion, we propose a class of fingers; the manipulation of which relies on finger deflections. These compliant fingers are actuated by shape memory alloy (SMA) wires that exhibit high work-density, frictionless, and quiet operations. The combination of compliant members with embedded SMA wires makes the finger more compact and lightweight. Various SMA wire layouts are investigated to reduce their response time while maintaining sufficient output force. The mathematical models of finger deflection caused by SMA contraction are then derived along with experimental validations. As finger shapes are essential to the range of deflected motion and output force, we find its optimal initial shapes through the use of a shape parametrization technique. We further illustrate our method by designing a humanoid finger that is capable of three-dimensional manipulation. Since compliant fingers can be fabricated monolithically, we expect the proposed design method to be utilized for applications of various scales.
AB - This paper presents a computational method to design a compliant finger for robotic manipulations. As traditional mechanical fingers require bulky electromagnetic motors and numerous relative moving parts to achieve dexterous motion, we propose a class of fingers; the manipulation of which relies on finger deflections. These compliant fingers are actuated by shape memory alloy (SMA) wires that exhibit high work-density, frictionless, and quiet operations. The combination of compliant members with embedded SMA wires makes the finger more compact and lightweight. Various SMA wire layouts are investigated to reduce their response time while maintaining sufficient output force. The mathematical models of finger deflection caused by SMA contraction are then derived along with experimental validations. As finger shapes are essential to the range of deflected motion and output force, we find its optimal initial shapes through the use of a shape parametrization technique. We further illustrate our method by designing a humanoid finger that is capable of three-dimensional manipulation. Since compliant fingers can be fabricated monolithically, we expect the proposed design method to be utilized for applications of various scales.
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UR - http://www.scopus.com/inward/citedby.url?scp=67649441241&partnerID=8YFLogxK
U2 - 10.1115/1.3042152
DO - 10.1115/1.3042152
M3 - Article
AN - SCOPUS:67649441241
VL - 131
SP - 210091
EP - 210099
JO - Journal of Mechanical Design - Transactions of the ASME
JF - Journal of Mechanical Design - Transactions of the ASME
SN - 1050-0472
IS - 2
ER -