Shape Memory Alloys as Linear Drives in Robot Hand Actuation

The applicability of shape memory alloy as an actuator for robotic hands is tested. A parallel arrangement of SMA wires along the forearm is implemented into a hand model after consideration of different designs. The activation of the SMA is achieved using a joule heating approach. The arrangement i...

Full description

Saved in:
Bibliographic Details
Main Authors: Lange, Gerrit, Lachmann, Andreas, Rahim, Abdul Hakim Abdul, Ismail, Muhammad Hussain, Low, Cheng Yee
Format: Conference Proceeding
Language:English
Subjects:
actuator
Robotic Hand
Shape memory alloy
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The applicability of shape memory alloy as an actuator for robotic hands is tested. A parallel arrangement of SMA wires along the forearm is implemented into a hand model after consideration of different designs. The activation of the SMA is achieved using a joule heating approach. The arrangement is tested for its controllability using open and closed loop control. An adaptive PID controller shows best results for the full range of motion.
ISSN:1877-0509
1877-0509
DOI:10.1016/j.procs.2015.12.335