Journal of Northeastern University Natural Science ›› 2017, Vol. 38 ›› Issue (8): 1137-1141.DOI: 10.12068/j.issn.1005-3026.2017.08.016

• Mechanical Engineering • Previous Articles     Next Articles

Research and Design on Modular Humanoid Finger with SMA Actuator

HAO Li-na, GUO Shao-fei, CHEN Yang   

  1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China.
  • Received:2016-03-24 Revised:2016-03-24 Online:2017-08-15 Published:2017-08-12
  • Contact: HAO Li-na
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Abstract: Modularized underactuated mechanical fingers are designed.For the actuator, SMA(shape memory alloy) wires are adopted, and permanent magnet devices are also used as the source of pre-stretching and restoring forces. This novel design increases the SMA output force for over 6N more than the conventional SMA actuators, in which bias springs are adopted as the pre-stretching elements. A pulley system is also developed for amplifying the displacement output capacity of the actuator by 2.1 times. The mechanical fingers are fabricated by 3D printing technology, and general grasping experiments are carried out with daily commodities. This paper proposes the method for resolving the conflicts among the displacement output capacity, the pre-stretching force and the output force. The achievements will facilitate the further application of the SMA materials in biomimetic actuating fields.

Key words: SMA actuator, pre-stretch, permanent magnets, displacement amplification, underactuated

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