NDLI: Humanoid Robot Hand With SMA Actuators and Servo Motors

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Wu, Lianjun Tadesse, Yonas
Copyright Year	2014
Abstract	This paper describes the design of a child humanoid robot hand with SMA actuators and servo motors. Human hands can grasp and manipulate complicated objects relying on its flexible structure and real-time control. However, it is difficult to replicate an exact human hand using rigid structures because of intricate biomechanical structure. In human hand, one metacarpal and three phalanges make up each finger, except for the thumb which only has two phalanges. Each finger except the thumb is composed of 3 joints: the metacarpophalangeal (MCP), the proximal interphalangeal (PIP) and distal interphalangeal joints (DIP). The DIP and PIP joints are always moving simultaneously, while the MCP joint can move independently. The child-sized robot hand is developed which replicates a seven year-old child’s hand in its fundamental structure. The robot hand has five fingers and all the fingers consist of 3 links. Servo motors and shape memory alloy actuators were used as a drive mechanism for the fingers and mathematical model of the SMA actuators are described to study the finger dynamics. A prototype humanoid robot hand was fabricated using 3D printing techniques and experimental results are presented.
File Format	PDF
ISBN	9780791846476
DOI	10.1115/IMECE2014-39326
Volume Number	Volume 4A: Dynamics, Vibration, and Control
Conference Proceedings	ASME 2014 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2014-11-14
Publisher Place	Montreal, Quebec, Canada
Access Restriction	Subscribed
Subject Keyword	Biomechanics Design Actuators Shape memory alloys Dynamics (mechanics) Humanoid robots Real-time control End effectors Additive manufacturing Servomotors Engineering prototypes Flexible structures
Content Type	Text
Resource Type	Article

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