Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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A Study on Design of Underactuated Robot Hand driven by Shape Memory Alloy

형상기억합금 Underactuated 로봇 핸드의 설계에 관한 연구

  • 김광호 ((재)광주테크노파크 가전로봇센터) ;
  • 신상호 (조선대학교 일반대학원 기계공학과) ;
  • 정상화 (조선대학교 기계공학과)
  • Received : 2011.03.05
  • Accepted : 2011.10.06
  • Published : 2011.10.31
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Abstract

The lightweight and compact actuator with high power is required to perform motion with multiple degrees of freedom. To reduce the size and inertia of a robot manipulator, the mechanical transmission system is used. The shape memory alloy(SMA) is similar to the muscle-tendon-bone network of a human hand. However, there are some drawback and nonlinearity, such as the hysteresis and the stress dependence. In this paper, the design of the underactuated robot hand is studied. The 3-finger dexterous hand is driven by the SMA actuator using segmental mechanism. This digital approach enables to overcome the nonlinearity of SMA wire. The translational displacement of SMA actuator required to bend a phalanx of the underactuated robot hand is estimated and the bending angle of the underactuated robot hand according to input displacement of SMA actuator is predicted by the multi-body dynamic analysis.

Keywords

References

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