Prototype of 32-Joint Robot Hand Using Shape Memory Gel and Tendon-Driven Mechanism
| Autor: | Kazunari Yoshida, Ryuhei Miyoshi, Yasutaka Nishioka, Toshihiko Yasuda, Riichiro Tadakuma, Mitsuhiro Yamano, Hidemitsu Furukawa, Akira Okamoto, Nahin Islam Shiblee |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Computer science
Bent molecular geometry Mechanical engineering 02 engineering and technology Shape-memory alloy Bending 010402 general chemistry 021001 nanoscience & nanotechnology Driver circuit 01 natural sciences 0104 chemical sciences Mechanism (engineering) Robot Nichrome 0210 nano-technology Joint (geology) |
| Zdroj: | ICM |
| Popis: | This paper presents the prototype of a robot hand using shape memory gel (SMG) and tendon-driven mechanism based on our concept. The finger of the robot hand can be designed to have many bendable parts which can be considered as joints. The number of the motors can be smaller than that of bendable parts. We can select a bending part of the finger as desired. Bending part of the SMG finger is heated by nichrome wires and becomes soft enough to be easily bent by tendon-driven mechanism. An efficient driver circuit for heating many parts of SMG by many nichrome wires is proposed. Examples of finger motion and grasping an object are performed to show the effectiveness of our concept. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|