Flexible Fingers Based on Shape Memory Alloy Actuated Modules
作者： Daniela Maffiodo , Terenziano Raparelli
关键词: Robotics 、 Shape-memory alloy 、 SMA* 、 Computer science 、 Realization (systems) 、 Mechanical engineering 、 Artificial intelligence 、 Joule effect 、 Action (physics) 、 Simple (abstract algebra)
摘要: To meet the needs of present-day robotics, a family gripping flexible fingers has been designed. Each them consists number independent and modules that can be assembled in different configurations. module body with central rod three longitudinally positioned shape memory alloy (SMA) wires. When heated by Joule effect, one to two SMA wires shorten, allowing bend. The return undeformed conditions is achieved calm air guaranteed elastic bias force exerted rod. This article presents basic concept simple mathematical model for design device. Experimental tests were carried out on prototypes bodies made materials. results these confirm need reduce antagonistic action inactive led realization fourth prototype equipped an additional wire-driven locking/unlocking device preliminary this last are encouraging.
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