Implementation of robot finger using shape memory alloys and electrical motors

Mina Terauchi; Kota Zenba; Akira Shimada

doi:10.1541/ieejias.128.654

Implementation of robot finger using shape memory alloys and electrical motors

Mina Terauchi, Kota Zenba, Akira Shimada

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

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 language	English
Pages (from-to)	654-660+13
Journal	IEEJ Transactions on Industry Applications
Volume	128
Issue number	5
DOIs	https://doi.org/10.1541/ieejias.128.654
Publication status	Published - 2008
Externally published	Yes

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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10.1541/ieejias.128.654

Cite this

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AU - Zenba, Kota

AU - Shimada, Akira

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AB - 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.

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KW - System identification

KW - Time delay

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Implementation of robot finger using shape memory alloys and electrical motors

Abstract

Keywords

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