Reduction of dimensionality of a cellular actuator array for driving a robotic hand
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2008
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| Online Access: | http://hdl.handle.net/1721.1/42284 |
| _version_ | 1824457827645652992 |
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| author | Cho, Kyu-Jin, Ph. D. Massachusetts Institute of Technology |
| author2 | H. Harry Asada. |
| author_facet | H. Harry Asada. Cho, Kyu-Jin, Ph. D. Massachusetts Institute of Technology |
| author_sort | Cho, Kyu-Jin, Ph. D. Massachusetts Institute of Technology |
| collection | MIT |
| description | Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. |
| first_indexed | 2024-09-23T09:56:02Z |
| format | Thesis |
| id | mit-1721.1/42284 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T09:56:02Z |
| publishDate | 2008 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/422842019-04-12T13:44:28Z Reduction of dimensionality of a cellular actuator array for driving a robotic hand Cho, Kyu-Jin, Ph. D. Massachusetts Institute of Technology H. Harry Asada. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. Includes bibliographical references (p. 89-93). In an attempt to explore an alternative to today's robot actuators, a new approach to artificial muscle actuator design and control is presented. The objective of this research is to coordinate the multitude of artificial muscle actuator axes for a large DOF (degree of freedom) robotic system based on dimensionality reduction. An array of SMA actuators is segmented into many independently controlled, spatially discrete volumes, each contributing a small displacement to create a large motion. Segmented Binary Control is proposed where each segment is controlled in an on-off manner, creating a stepper-motor like actuator. This overcomes hysteresis and other nonlinearities of the actuator material. The segmented cellular architecture of SMA wires is extended to a multi-axis actuator array by arranging the segments in a two-dimensional array. The multi-axis control is streamlined and coordinated using a grouping of segments called C-segments in order to activate multiple links of a robot mechanism in a coordinated manner. This allows control of large DOF with a small number of controls. The proposed approach is inspired by the segmented architecture of biological muscles and synergies, a strategy of grouping output variables to simplify the control of large number of muscles. Data from various hand postures are collected using data glove and used in creating the C-segment design that is capable of performing the given postures. A lightweight Robotic Hand with 16 DOF is built using shape memory alloy actuators. This hand weighs less than 1kg including 32 SMA actuators and control circuitry. Eight C-segments that are ON-off controlled are used to create sixteen given postures. In the future, this approach can be applied to applications where the control signal is inherently limited due to limited amount of information that can be extracted or transferred to the robot, such as brain machine interface and tele-operation. by Kyu-Jin Cho. Ph.D. 2008-09-03T15:12:13Z 2008-09-03T15:12:13Z 2007 2007 Thesis http://hdl.handle.net/1721.1/42284 232155763 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 117 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Cho, Kyu-Jin, Ph. D. Massachusetts Institute of Technology Reduction of dimensionality of a cellular actuator array for driving a robotic hand |
| title | Reduction of dimensionality of a cellular actuator array for driving a robotic hand |
| title_full | Reduction of dimensionality of a cellular actuator array for driving a robotic hand |
| title_fullStr | Reduction of dimensionality of a cellular actuator array for driving a robotic hand |
| title_full_unstemmed | Reduction of dimensionality of a cellular actuator array for driving a robotic hand |
| title_short | Reduction of dimensionality of a cellular actuator array for driving a robotic hand |
| title_sort | reduction of dimensionality of a cellular actuator array for driving a robotic hand |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/42284 |
| work_keys_str_mv | AT chokyujinphdmassachusettsinstituteoftechnology reductionofdimensionalityofacellularactuatorarrayfordrivingarobotichand |