Design of Modular Humanoid Robotic Hand Driven by SMA Actuator
With excellent properties of light weight, low energy consumption and high power weight ratio, shape memory alloy (SMA) actuator has been widely applied in robotic hand nowadays. A novel modular humanoid robotic hand driven by SMA actuator is proposed and fabricated by 3D printer in this paper. An innovation displacement amplification pulley is designed to increase the output displacement of SMA actuator. The novel permanent magnet restoring structure can generate larger output force than that in conventional spring restoring structure in grasping process. In addition, modular design of hand makes it easy to assemble and disassemble, and the motion of hand is underactuated grasping form which simplifies the control system. The grasping tests of different shape and dimension of objects show that the hand has well working performance. The grasping diameter of object is less than 120 mm, and the maximum grasping weight is 500 g.
KeywordsModular humanoid robotic hand SMA actuator Modular design Permanent magnet restoring structure Displacement amplification pulley
This work was supported by National High Technology Research and Development Program of China (863 Program) under Grant No. 2015AA042302 and the National Natural Science Foundation of China under Grant No. 61573093. The authors would like to thank IROS 2016 committee for giving us the chance to participate in Robotic Grasping and Manipulation Competition, primary contact person Yu Sun for his hard work, Korean government funding as a reimbursement of our team’s travel to IROS 2016, and all the volunteers in IROS 2016. Yang Chen designed the control system of hand, carried out the grasping tests and wrote the paper. Shaofei Guo designed the modular humanoid robotic hand and participated in the grasping tests. Hui Yang participated in debugging the program of control system. Lina Hao inspired us to design a robotic hand driven by artificial muscle actuator and reviewed this manuscript.
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