This paper presents a computational method to design a compliant finger for robotic manipulations. As traditional mechanical fingers require bulky electromagnetic motors and numerous relative moving parts to achieve dexterous motion, we propose a class of fingers; the manipulation of which relies on finger deflections. These compliant fingers are actuated by shape memory alloy (SMA) wires that exhibit high work-density, frictionless, and quiet operations. The combination of compliant members with embedded SMA wires makes the finger more compact and lightweight. Various SMA wire layouts are investigated to reduce their response time while maintaining sufficient output force. The mathematical models of finger deflection caused by SMA contraction are then derived along with experimental validations. As finger shapes are essential to the range of deflected motion and output force, we find its optimal initial shapes through the use of a shape parametrization technique. We further illustrate our method by designing a humanoid finger that is capable of three-dimensional manipulation. Since compliant fingers can be fabricated monolithically, we expect the proposed design method to be utilized for applications of various scales.
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e-mail: cclan@mail.ncku.edu.tw
e-mail: middle1023@gmail.com
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February 2009
Research Papers
A Computational Design Method for a Shape Memory Alloy Wire Actuated Compliant Finger
Chao-Chieh Lan,
Chao-Chieh Lan
Department of Mechanical Engineering,
e-mail: cclan@mail.ncku.edu.tw
National Cheng Kung University
, No. 1 University Road, Tainan 701, Taiwan
Search for other works by this author on:
You-Nien Yang
You-Nien Yang
Department of Mechanical Engineering,
e-mail: middle1023@gmail.com
National Cheng Kung University
, No. 1 University Road, Tainan 701, Taiwan
Search for other works by this author on:
Chao-Chieh Lan
Department of Mechanical Engineering,
National Cheng Kung University
, No. 1 University Road, Tainan 701, Taiwane-mail: cclan@mail.ncku.edu.tw
You-Nien Yang
Department of Mechanical Engineering,
National Cheng Kung University
, No. 1 University Road, Tainan 701, Taiwane-mail: middle1023@gmail.com
J. Mech. Des. Feb 2009, 131(2): 021009 (9 pages)
Published Online: January 21, 2009
Article history
Received:
March 17, 2008
Revised:
October 24, 2008
Published:
January 21, 2009
Citation
Lan, C., and Yang, Y. (January 21, 2009). "A Computational Design Method for a Shape Memory Alloy Wire Actuated Compliant Finger." ASME. J. Mech. Des. February 2009; 131(2): 021009. https://doi.org/10.1115/1.3042152
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