Development of a Miniature Robot Finger with a Variable Stiffness Mechanism using Shape Memory Alloy
Development of a Miniature Robot Finger with a Variable Stiffness Mechanism using Shape Memory Alloy
复制标题
DOI：
10.1299/jsmermd.2004.108_2
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
T. Hino;T. Maeno
中科院分区：
文献类型：
--
作者：
T. Hino;T. Maeno
介绍了一种采用形状记忆合金作为驱动器的微型机器人手指。为了开发机器人手来代替人执行人类工作，已经进行了许多研究。通过使机器人手灵活化，可以执行更细致的工作。在研制用于灵巧操作的小型机器人手时，需要考虑小型化和简化问题。本文提出的微型机器人手指是由形状记忆合金（SMA）丝驱动。机器人手指的结构模仿人类的肌肉骨骼系统，因为SMA线表现出类似于人类肌肉的非线性特征。由于形状记忆合金具有形状记忆效应，可实现指尖的高精度位置控制。指尖的力控制通过测量SMA线的张力来执行。我们用应变计测量张力。我们证实，手指关节的刚度控制可以通过同时控制SMA的张力来进行。
This paper describes a miniature robot finger which uses shape memory alloy as the actuator. Aiming at developing robot hands to perform human work instead of men, numerous research have been conducted. By miniaturizing robot hands, execution of more detailed work becomes possible. In developing miniature robot hands for dexterous manipulation, it is necessary to consider miniaturizing and simplification. The miniature robot finger proposed in this paper is driven by shape memory alloy (SMA) wires. The structure of the robot finger imitates the musculoskeletal system of humans, since SMA wires exhibit nonlinear features similar to human muscles. Highly precise position control of fingertip is performable by using SMA owing to its shape memory effect. Force control of the fingertip is performed by measuring the tension of the SMA wire. We used strain gages to measure tension. We confirmed that stiffness control of the finger joint can be conducted by controlling tension of the SMA simultaneously.