Indian Journal of Science and Technology

Open Access Open Access  Restricted Access Subscription Access

Design and Construction of an Artificial Finger based on SMA Actuators


Affiliations
1 Faculty of Industrial and Mechanical Engineering, Qazvin Branch,Islamic Azad University, Qazvin, Iran, Islamic Republic of
2 Mechanical Engineering Department, Islamic Azad University, PardisBranch,Tehran, Iran, Islamic Republic of
 

Shape Memory Alloy (SMA) wires are currently employed in robotics, as actuators of prosthetic limbs and medical equipment due to advantages such as reducing the size in the application, high power-to-weight ratio and elimination of complex transmission systems. In this paper, a new prosthetic finger is presented using SMA wire actuators. This robotic finger has been designed and modeled with three revolute joints and three SMA wires as the tendon in order to adduction each phalange of the finger and torsional springs to restore themto their original positions. The dynamic model of the finger has been simulated and validated in MATLAB/Simulation under different input voltages. By using this simulation, kinematic and kinetic of this finger have been analyzed. Also, by attention of the design goals, the mechanism of artificial finger is defined and has been developed in the Solid Works software. Based on simulation results, optimal choice of parameters and system features has been obtained and a prototype of finger has been built and tested.The results of practical experiments show that the designed artificial finger can achieve to the desired positions with high accuracy. Also, the results of practical tests confirm validity, high accuracy and authenticity of simulation model.

Keywords

Shape Memory Alloy, Artificial Finger, Modeling, Kinematics, Kinetic, Experimental Set Up
User

  • Ashrafiuon H., Eshraghi M. and Elahinia M.H. (2006) ‘Position Control of a three link Shape Memory Alloy Actuated Robot’, Journal ofIntelligent Material Systems and Structures.

  • Bundhoo V., Haslam E., Birch B. and Park E.J. (2008)‘A shape memory alloy based tendon-driven actuation system for biomimetic artificial fingers, part I: design and evaluation’, Cambridge University.

  • DeLaurentis K.J. and Mavroidis C. (2000)‘Development of A Shape Memory Alloy Actuated Robotic Hand’, Rutgers, The State University of New Jersey, Piscataway, NJ, US.

  • Elahinia M. and Ashrafiuon H. (2002) ‘Nonlinear control of a shape memory alloy actuated manipulator’, Trans. ASME. J. Vibe.

  • Hino T. and Maeno T. (2004) ‘Development of a Miniature Robot Finger with a Variable Stiffness Mechanism using Shape Memory Alloy’, International Symposium on Robotics and Automation, México.

  • Kyberd P.J., Light C., Chappell P.H., Nightingale J.M., Whatley D. and Evans M. (2001)‘The design of Anthropomorphic prosthetic hands: A study of the Southampton hand’, Robotica 19.

  • Kathryn J., Laurentis D. andMavroidis C. (2002)‘Mechanical design of a shape memory alloy actuated prosthetic hand’, Technology and Health Care.

  • Kheirikhah M. M., Khodayari A. and Tatlari M. (2010) ‘Design a New Model for Artificial Finger by Using SMA Actuators’, IEEE International Conference on Robotics and Biomimetics (ROBIO2010), China.

  • Kheirikhah M.M., Rabiee S. andEdalat M.E. (2011)‘A Review of Shape Memory Alloy Actuators in Robotics’, Speringer-Verlag Berlin Heidelberg.

  • Liang C. and Rogers C.A. (1992) ‘Design of Shape Memory Alloy Actuators for Robotics’, Proc. of the 4th ASME International Symposium on Robotics and Manufacturing, Santa Fe, New Mexico.

  • Machado L.G. andSavi M.A. (2003)‘Medical applications of shape memory alloys’, Brazilian Journal of Medical and Biological Research.

  • Maeno T. and Hino T. (2006) ‘Miniature five-fingered robot hand driven by shape memory alloy actuators’, Proceedings of the 12th IASTEDInternational Conference, Robotics and Applications, Hawaii, USA.

  • O’Toole K.T. and McGrath M.M. (2007) ‘Mechanical Design and Theoretical Analysis of a Four Fingered Prosthetic Hand Incorporating Embedded SMA Bundle Actuators’, Proceedings of World Academy of Science Engineering And Technology, Volume 25 ISSN 1307- 6884.

  • Wakjira J. (2001)‘The VT1 Shape Memory Alloy Heat Engine Design’, Blacksburg, VA.

  • Data Sheet of Muscle wires, DYNALLOY Inc, 14762 Bentley circle, Tustin, CA, USA, from: www.musclewires.com.


Abstract Views: 580

PDF Views: 162




  • Design and Construction of an Artificial Finger based on SMA Actuators

Abstract Views: 580  |  PDF Views: 162

Authors

Mohammad Mahdi Kheirikhah
Faculty of Industrial and Mechanical Engineering, Qazvin Branch,Islamic Azad University, Qazvin, Iran, Islamic Republic of
Alireza Khodayari
Mechanical Engineering Department, Islamic Azad University, PardisBranch,Tehran, Iran, Islamic Republic of

Abstract


Shape Memory Alloy (SMA) wires are currently employed in robotics, as actuators of prosthetic limbs and medical equipment due to advantages such as reducing the size in the application, high power-to-weight ratio and elimination of complex transmission systems. In this paper, a new prosthetic finger is presented using SMA wire actuators. This robotic finger has been designed and modeled with three revolute joints and three SMA wires as the tendon in order to adduction each phalange of the finger and torsional springs to restore themto their original positions. The dynamic model of the finger has been simulated and validated in MATLAB/Simulation under different input voltages. By using this simulation, kinematic and kinetic of this finger have been analyzed. Also, by attention of the design goals, the mechanism of artificial finger is defined and has been developed in the Solid Works software. Based on simulation results, optimal choice of parameters and system features has been obtained and a prototype of finger has been built and tested.The results of practical experiments show that the designed artificial finger can achieve to the desired positions with high accuracy. Also, the results of practical tests confirm validity, high accuracy and authenticity of simulation model.

Keywords


Shape Memory Alloy, Artificial Finger, Modeling, Kinematics, Kinetic, Experimental Set Up

References





DOI: https://doi.org/10.17485/ijst%2F2013%2Fv6i1%2F30552