Flexible Fingers Based on Shape Memory Alloy Actuated Modules
To meet the needs of present-day robotics, a family of gripping flexible fingers has been designed. Each of them consists of a number of independent and flexible modules that can be assembled in different configurations. Each module consists of a body with a flexible central rod and three longitudin...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-06-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/7/2/40 |
| _version_ | 1818234174146871296 |
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| author | Daniela Maffiodo Terenziano Raparelli |
| author_facet | Daniela Maffiodo Terenziano Raparelli |
| author_sort | Daniela Maffiodo |
| collection | DOAJ |
| description | To meet the needs of present-day robotics, a family of gripping flexible fingers has been designed. Each of them consists of a number of independent and flexible modules that can be assembled in different configurations. Each module consists of a body with a flexible central rod and three longitudinally positioned shape memory alloy (SMA) wires. When heated by the Joule effect, one to two SMA wires shorten, allowing the module to bend. The return to undeformed conditions is achieved in calm air and is guaranteed by the elastic bias force exerted by the central rod. This article presents the basic concept of the module and a simple mathematical model for the design of the device. Experimental tests were carried out on three prototypes with bodies made of different materials. The results of these tests confirm the need to reduce the antagonistic action of the inactive SMA wires and led to the realization of a fourth prototype equipped with an additional SMA wire-driven locking/unlocking device for these wires. The preliminary results of this last prototype are encouraging. |
| first_indexed | 2024-12-12T11:33:53Z |
| format | Article |
| id | doaj.art-ef2dc9a62c9f4d3b8141e1ed1283e6f3 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-12-12T11:33:53Z |
| publishDate | 2019-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-ef2dc9a62c9f4d3b8141e1ed1283e6f32022-12-22T00:25:43ZengMDPI AGMachines2075-17022019-06-01724010.3390/machines7020040machines7020040Flexible Fingers Based on Shape Memory Alloy Actuated ModulesDaniela Maffiodo0Terenziano Raparelli1Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyTo meet the needs of present-day robotics, a family of gripping flexible fingers has been designed. Each of them consists of a number of independent and flexible modules that can be assembled in different configurations. Each module consists of a body with a flexible central rod and three longitudinally positioned shape memory alloy (SMA) wires. When heated by the Joule effect, one to two SMA wires shorten, allowing the module to bend. The return to undeformed conditions is achieved in calm air and is guaranteed by the elastic bias force exerted by the central rod. This article presents the basic concept of the module and a simple mathematical model for the design of the device. Experimental tests were carried out on three prototypes with bodies made of different materials. The results of these tests confirm the need to reduce the antagonistic action of the inactive SMA wires and led to the realization of a fourth prototype equipped with an additional SMA wire-driven locking/unlocking device for these wires. The preliminary results of this last prototype are encouraging.https://www.mdpi.com/2075-1702/7/2/40shape memory alloySMA wiresflexible actuatormodular actuatormathematical modelexperimental test |
| spellingShingle | Daniela Maffiodo Terenziano Raparelli Flexible Fingers Based on Shape Memory Alloy Actuated Modules Machines shape memory alloy SMA wires flexible actuator modular actuator mathematical model experimental test |
| title | Flexible Fingers Based on Shape Memory Alloy Actuated Modules |
| title_full | Flexible Fingers Based on Shape Memory Alloy Actuated Modules |
| title_fullStr | Flexible Fingers Based on Shape Memory Alloy Actuated Modules |
| title_full_unstemmed | Flexible Fingers Based on Shape Memory Alloy Actuated Modules |
| title_short | Flexible Fingers Based on Shape Memory Alloy Actuated Modules |
| title_sort | flexible fingers based on shape memory alloy actuated modules |
| topic | shape memory alloy SMA wires flexible actuator modular actuator mathematical model experimental test |
| url | https://www.mdpi.com/2075-1702/7/2/40 |
| work_keys_str_mv | AT danielamaffiodo flexiblefingersbasedonshapememoryalloyactuatedmodules AT terenzianoraparelli flexiblefingersbasedonshapememoryalloyactuatedmodules |