Modeling and control of a finger-like mechanism using bending shape memory alloys

In this research a biologically inspired finger-like mechanism similar to human musculoskeletal system is developed based on Shape Memory Alloys (SMAs). SMA actuators are inspiring the design of a modular finger part with compact and compliant actuation. A three-segmented finger-like mechanism is designed and fabricated. This mechanism is composed of six bending Shape Memory Alloy (SMA) actuators. As a result, our finger mechanism is compact and compliant. The insider three SMA actuators are used for finger flexion while the outsider three SMA actuators are for extension. Each segment of this mechanism can be bent and/or extended independently by actuating a corresponding bending SMA actuator. Furthermore, full bending motion can be achieved by applying coordinated control of the three SMA actuators. Toward this goal a mathematical model of the SMA combined finger has been developed. The developed mathematical model is then used to design a proportional-derivative controller for control compliant actuation of the finger-mechanism. The performance of this mechanism has been experimentally evaluated. Our experimental results verify that the SMA-based finger module can achieve the desired postures similar to a human finger.

[1]  Stefan Seelecke,et al.  Metal muscles and nerves—a self-sensing SMA-actuated hand concept , 2017 .

[2]  Yiwei Liu,et al.  A novel design of a parallel gripper actuated by a large-stroke shape memory alloy actuator , 2019, International Journal of Mechanical Sciences.

[3]  C. A. Rogers,et al.  One-Dimensional Thermomechanical Constitutive Relations for Shape Memory Materials , 1997 .

[4]  K. Tanaka.  A THERMOMECHANICAL SKETCH OF SHAPE MEMORY EFFECT: ONE-DIMENSIONAL TENSILE BEHAVIOR , 1986 .

[5]  Mohammad Biglarbegian,et al.  State of the Art Robotic Grippers and Applications , 2016, Robotics.

[6]  WangWei,et al.  Shape Memory Alloy-Based Soft Gripper with Variable Stiffness for Compliant and Effective Grasping. , 2017 .

[7]  Mehdi Ahmadian,et al.  An enhanced SMA phenomenological model: I. The shortcomings of the existing models , 2005 .

[8]  S. Langbein,et al.  Development of standardised and integrated shape memory components in “one-module”-design , 2009 .

[9]  Constantinos Mavroidis,et al.  Mechanical design of a shape memory alloy actuated prosthetic hand. , 2002, Technology and health care : official journal of the European Society for Engineering and Medicine.

[10]  Martin Leary,et al.  A review of shape memory alloy research, applications and opportunities , 2014 .

[11]  Yangwei Wang,et al.  A Coupling Dynamic Model for Studying the Physical Interaction Between a Finger Exoskeleton and a Human Finger , 2020, IEEE Access.

[12]  Yonas Tadesse,et al.  KryptoJelly: a jellyfish robot with confined, adjustable pre-stress, and easily replaceable shape memory alloy NiTi actuators , 2020, Smart Materials and Structures.

[13]  Craig A. Rogers,et al.  One-Dimensional Thermomechanical Constitutive Relations for Shape Memory Materials , 1990 .

[14]  Gabriele Gilardi,et al.  A shape memory alloy based tendon-driven actuation system for biomimetic artificial fingers, part II: modelling and control , 2009, Robotica.

[15]  H. Rodrigue,et al.  Long Shape Memory Alloy Tendon-based Soft Robotic Actuators and Implementation as a Soft Gripper , 2019, Scientific Reports.

[16]  K. Godfrey,et al.  Infant dietary patterns and early childhood caries in a multi-ethnic Asian cohort , 2019, Scientific Reports.

[17]  Xiaolong Lu,et al.  A small legged deformable robot with multi-mode motion , 2020 .

[18]  Edward J. Park,et al.  A shape memory alloy-based tendon-driven actuation system for biomimetic artificial fingers, part I: design and evaluation , 2009, Robotica.

[19]  E. Engeberg,et al.  Shape memory alloy tube actuators inherently enable internal fluidic cooling for a robotic finger under force control , 2020, Smart Materials and Structures.

[20]  Stefan Seelecke,et al.  Modeling and Identification of a Shape Memory Alloy Robotic Finger Actuator , 2019, 2019 18th European Control Conference (ECC).

[21]  T. Raparelli,et al.  Flexible Fingers Based on Shape Memory Alloy Actuated Modules , 2019, Machines.

[22]  Sung-hoon Ahn,et al.  Curved shape memory alloy-based soft actuators and application to soft gripper , 2017 .

[23]  Sung-Hoon Ahn,et al.  Soft composite hinge actuator and application to compliant robotic gripper , 2016 .

[24]  Wei Zhang,et al.  A novel design of shape-memory alloy-based soft robotic gripper with variable stiffness , 2020 .

[25]  Aldenor G. Santos,et al.  Occurrence of the potent mutagens 2- nitrobenzanthrone and 3-nitrobenzanthrone in fine airborne particles , 2019, Scientific Reports.

[26]  Anthony Tzes,et al.  Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators , 2015, J. Intell. Robotic Syst..

[27]  Sung-hoon Ahn,et al.  Shape Memory Alloy-Based Soft Finger with Changeable Bending Length Using Targeted Variable Stiffness. , 2019, Soft robotics.

[28]  Sung-Hoon Ahn,et al.  Turtle mimetic soft robot with two swimming gaits , 2016, Bioinspiration & biomimetics.

[29]  L. Brinson.  One-Dimensional Constitutive Behavior of Shape Memory Alloys: Thermomechanical Derivation with Non-Constant Material Functions and Redefined Martensite Internal Variable , 1993 .