Implementation of Robot Finger Using Shape Memory Alloys and Electrical Motors
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- Terauchi Mina
- Polytechnic University
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- Zenba Kota
- Polytechnic University
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- Shimada Akira
- Polytechnic University
Bibliographic Information
- Other Title
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- 形状記憶合金とモータを併用したロボット指の実現
- ケイジョウ キオク ゴウキン ト モータ オ ヘイヨウシタ ロボット ユビ ノ ジツゲン
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Abstract
This paper introduces a mechanical structure and control technique of a second robot finger as a system integration. The finger has been developed as element of a robot hand which has 20 joints and 16 degrees of freedom in order to express fingerspelling. The first joint of the finger is driven by small DC servo motor and the second and third joints are driven by shape-memory alloy (SMA) wires. The hand system consists of four parts of “hand mechanism”, “drive device”, “control unit” and “man-machine interface”. In order to implement cooperative smooth motions, the control system is designed based on experimental results related to system identification, and the position trajectory refernce is designed considering time delay on the SMA. Finally, we report the simulation and experimental control results to evaluate the presented system.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 128 (5), 654-660, 2008
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390282679636375680
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- NII Article ID
- 10021134338
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 9496032
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed