Implementation of robot finger using shape memory alloys and electrical motors

Mina Terauchi, Kota Zenba, Akira Shimada

Research output: Contribution to journalArticle

Abstract

This paper introduces a mechanical structure and control technique of a second robot finger as a system integration. The finger has been developed as element of a robot hand which has 20 joints and 16 degrees of freedom in order to express fingerspelling. The first joint of the finger is driven by small DC servo motor and the second and third joints are driven by shape-memory alloy (SMA) wires. The hand system consists of four parts of "hand mechanism", "drive device", "control unit" and "man-machine interface". In order to implement cooperative smooth motions, the control system is designed based on experimental results related to system identification, and the position trajectory refernce is designed considering time delay on the SMA. Finally, we report the simulation and experimental control results to evaluate the presented system.

Original languageEnglish
Pages (from-to)654-660+13
JournalIEEJ Transactions on Industry Applications
Volume128
Issue number5
DOIs
Publication statusPublished - 2008 Dec 1

Keywords

  • Finger
  • Robot
  • Shape memory alloy
  • System identification
  • Time delay

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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