Transmission Structure Design and Research of Humanoid Finger based on the SMA Wire Drive
The shape memory alloy（SMA） actuator has many excellent properties,such as simple structure,easy to control,high power weight ratio,which makes it widely been studied in the dexterous hand as actuator.But the driving displacement is small in practical application,and need to place the drive into the...
| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.021 |
| _version_ | 1797819312758587392 |
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| author | Hao Li’na Guo Shaofei Chen Yang |
| author_facet | Hao Li’na Guo Shaofei Chen Yang |
| author_sort | Hao Li’na |
| collection | DOAJ |
| description | The shape memory alloy（SMA） actuator has many excellent properties,such as simple structure,easy to control,high power weight ratio,which makes it widely been studied in the dexterous hand as actuator.But the driving displacement is small in practical application,and need to place the drive into the arms to increase drive displacement.The module of under actuated finger structure is designed.The SMA wire worked as actuator.A novel pulley which could amplify the output displacement of actuator is designed.The permanent magnet device provided pre-stretch and restore function,which implemented the drive and transmission of one-piece lightweight design.The transmission structure of the humanoid dexterous hand is analyzed.Finally,the model of finger is made by 3D printer and assemble the single finger,implements the crawl of daily supplies. |
| first_indexed | 2024-03-13T09:21:04Z |
| format | Article |
| id | doaj.art-48c3655542f14320917f81b8ba03b8a1 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:21:04Z |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-48c3655542f14320917f81b8ba03b8a12023-05-26T09:43:47ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-014110410729928688Transmission Structure Design and Research of Humanoid Finger based on the SMA Wire DriveHao Li’naGuo ShaofeiChen YangThe shape memory alloy（SMA） actuator has many excellent properties,such as simple structure,easy to control,high power weight ratio,which makes it widely been studied in the dexterous hand as actuator.But the driving displacement is small in practical application,and need to place the drive into the arms to increase drive displacement.The module of under actuated finger structure is designed.The SMA wire worked as actuator.A novel pulley which could amplify the output displacement of actuator is designed.The permanent magnet device provided pre-stretch and restore function,which implemented the drive and transmission of one-piece lightweight design.The transmission structure of the humanoid dexterous hand is analyzed.Finally,the model of finger is made by 3D printer and assemble the single finger,implements the crawl of daily supplies.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.021SMA actuator;Pre-stretch;Permanent magnets;Displacement amplification;Under actuated |
| spellingShingle | Hao Li’na Guo Shaofei Chen Yang Transmission Structure Design and Research of Humanoid Finger based on the SMA Wire Drive Jixie chuandong SMA actuator;Pre-stretch;Permanent magnets;Displacement amplification;Under actuated |
| title | Transmission Structure Design and Research of Humanoid Finger based on the SMA Wire Drive |
| title_full | Transmission Structure Design and Research of Humanoid Finger based on the SMA Wire Drive |
| title_fullStr | Transmission Structure Design and Research of Humanoid Finger based on the SMA Wire Drive |
| title_full_unstemmed | Transmission Structure Design and Research of Humanoid Finger based on the SMA Wire Drive |
| title_short | Transmission Structure Design and Research of Humanoid Finger based on the SMA Wire Drive |
| title_sort | transmission structure design and research of humanoid finger based on the sma wire drive |
| topic | SMA actuator;Pre-stretch;Permanent magnets;Displacement amplification;Under actuated |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.021 |
| work_keys_str_mv | AT haolina transmissionstructuredesignandresearchofhumanoidfingerbasedonthesmawiredrive AT guoshaofei transmissionstructuredesignandresearchofhumanoidfingerbasedonthesmawiredrive AT chenyang transmissionstructuredesignandresearchofhumanoidfingerbasedonthesmawiredrive |