|
Abstract: The simple, light and high power density SMA actuator
holds much promise for the future of lightweight robotics and
miniaturization. However, in almost all the design of existing robot
hands using SMAAs, the actuating components are physically separated
from the reversing components as well as the driving units are separated
from the executing units, in result of complicated frames and inflexible
moves. Therefore, the new type embedded SMAA is first presented.
Consisting of an elastic rod with off-axis embedded linear SMA wires,
the actuator could output force and displacement steadily through
recoverable temperature circle. The deflection theory and general
conclusions for actuating and controlling are established connecting
with experiment results. Furthermore, an assembled flexible robot hand
consisting of several ESMAAs is completed. The kinematics issue is also
discussed in detail. Finally, the experimental grasping system with the
three-finger-ed flexible robot hand above is developed.
Key words: SMA ESMAA Hand Grasping
CLC No: TP241
中国博士后科学基金(20040350194)，台达电力电子科教发展基金(2004)，湖北省自然科学基金(2004ABA107)和华中科技大学博士后科研专项基金(2004004)资助项目.
Received 20040405, received in revised form 20041223
|