Design and control of a shape memory alloy based dexterous robot hand
Design and control of a shape memory alloy based dexterous robot hand
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DOI：
10.1088/0964-1726/16/4/055
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发表时间：
2007-08-01
影响因子：
4.1
通讯作者：
Naguib, H. E.
中科院分区：
文献类型：
--
作者：
Price, A. D.;Jnifene, A.;Naguib, H. E.
现代外部动力上半身假肢通常由电动伺服电机驱动。尽管这些电机实现了合理的运动性能，但它们体积庞大且笨重。诸如此类的阻碍因素导致很大一部分上肢截肢者避免使用假肢。因此，显然需要紧凑且重量轻的功能性假肢装置。这种装置的实现需要替代的驱动技术，而生物学启发表明基于肌腱的系统是有利的。形状记忆合金是一种智能材料，其驱动机制类似于生物等效物。因此，形状记忆合金设备有望在灵巧机器人，特别是假肢的未来中发挥重要作用。本文研究了围绕形状记忆合金作为三指机器人手的人造肌肉的实际应用的设计、仪器和控制问题。
Modern externally powered upper-body prostheses are conventionally actuated by electric servomotors. Although these motors achieve reasonable kinematic performance, they are voluminous and heavy. Deterring factors such as these lead to a substantial proportion of upper extremity amputees avoiding the use of their prostheses. Therefore, it is apparent that there exists a need for functional prosthetic devices that are compact and lightweight. The realization of such a device requires an alternative actuation technology, and biological inspiration suggests that tendon based systems are advantageous. Shape memory alloys are a type of smart material that exhibit an actuation mechanism resembling the biological equivalent. As such, shape memory alloy enabled devices promise to be of major importance in the future of dexterous robotics, and of prosthetics in particular. This paper investigates the design, instrumentation, and control issues surrounding the practical application of shape memory alloys as artificial muscles in a three-fingered robot hand.