An analytical design method for a shape memory alloy wire actuated compliant finger
Journal Volume
2
Journal Issue
PART A
Start Page
123
End Page
132
ISBN (of the container)
9780791843253
9780791843277
9780791843260
Date Issued
2009
Author(s)
Yang, You Nien
Abstract
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.
Event(s)
2008 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
Subjects
Compliant Mechanisms
Robotic Finger
Shape Memory Alloy
Shape Optimization
Analytical Design Method
Analytical Method
Compliant Mechanism
Electro-magnetic Motors
Experimental Validations
Finger Shape
Initial Shape
Moving Parts
Output Force
Response Time
Robotic Finger
Robotic Manipulation
Shape Memory Alloy Wire
Shape Parameterization Techniques
Sma Wire
Three-dimensional Manipulation
Alloys
Design
Mathematical Models
Mechanical Engineering
Mechanisms
Robotic Arms
Robotics
Shape Memory Effect
Wire
Shape Optimization
Description
2008 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008. New York City, NY. conference code:76696
Type
conference paper