An analytical design method for a shape memory alloy wire actuated compliant finger

Chao-Chieh Lan, You Nien Yang

研究成果: Conference contribution

4 引文 斯高帕斯(Scopus)

摘要

This paper presents an analytical method to design a mechanical finger for robotic manipulations. As traditional mechanical fingers require bulky electro-magnetic 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 workdensity, frictionless, and quite operations. The combination of compliant members with embedded SMA wires makes the finger more compact and lightweight. Various SMA wire layouts are investigated to improve 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 parameterization technique. We further illustrate our method by designing a humanoid finger that is capable of threedimensional manipulation. As compliant fingers can be fabricated monolithically, we expect the proposed method to be utilized for applications of various scales.

原文English
主出版物標題ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008
頁面123-132
頁數10
版本PARTS A AND B
DOIs
出版狀態Published - 2008 十二月 1
事件ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008 - Brooklyn, NY, United States
持續時間: 2008 八月 32008 八月 6

出版系列

名字Proceedings of the ASME Design Engineering Technical Conference
號碼PARTS A AND B
2

Other

OtherASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008
國家/地區United States
城市Brooklyn, NY
期間08-08-0308-08-06

All Science Journal Classification (ASJC) codes

  • 建模與模擬
  • 機械工業
  • 電腦科學應用
  • 電腦繪圖與電腦輔助設計

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