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Development of a Robotic Hand using Shape Memory Alloy Actuators
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 Title & Authors
Development of a Robotic Hand using Shape Memory Alloy Actuators
Jeon, Chang Gook; Yoo, Dong Sang;
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Shape Memory Alloys (SMAs) undergo changes in shape and hardness when heated or cooled, and do so with great force. Since wire-type SMAs contract in length when heated and pull with a surprisingly large force and move silently, they can be used as actuactors which replace motors. These SMA actuators can be heated directly with electricity and can be used to create a wide range of motions. This paper presents the mechanical design and control for a three fingered, six degree-of-freedom robotic hand actuated by SMA actuators. Each finger has two joints and each joint is actuated with two tendons in the antagonistic manner. In order to create the sufficient force to make the smooth motion, the tendon is composed of two SMA actuators in parallel. For controlling the current to heat the SMA actuators, PWM drivers are used. In experiments, the antagonistic interaction of fingers are evaluated.
Shape Memory Alloy;Muscle Wire;Robotic Hand;PWM Driver;Antagonistic Motion;
 Cited by
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