文章基本信息

标题：Soft Driving Epicyclical Mechanism for Robotic Finger
其他标题：Soft Driving Epicyclical Mechanism for Robotic Finger
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作者：Jose Ramirez ; Astrid Rubiano ; Paola Castiblanco 等
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2019
卷号：8
期号：3
页码：58
DOI：10.3390/act8030058
出版社：MDPI Publishing
摘要：Nowadays, the development or improvement of soft actuation mechanisms is a crucial topic for the achievement of dexterous manipulation using. Then, a primary target of research is the design of actuation and driving devices. Consequently, in this paper, we introduce a soft driving epicyclical mechanism that mimics human muscle behavior and fulfills motion requirements to achieve grasping gestures using a robotic finger. The prototype is experimentally assessed, and results show that our approach has enough performance for the implementation in grasping tasks. Furthermore, we introduce the basis for a new soft epicyclical mechanism merger with shape memory alloys to allow active stiffness control of the mechanism.
关键词：actuation and driving mechanism; soft driving epicyclical mechanism; shape memory alloy actuation and driving mechanism ; soft driving epicyclical mechanism ; shape memory alloy