Team Robotic Hand

1
Team Robotic Hand

• Aaron Lassig, Jared Wood, Cameron Sullivan
• Lassig2_at_gmail.com
  jared.jwood_at_gmail.com cfsullivan_at_gmail.com

2
Outline

• Project Description
• Summary
• Wet Shape Memory Alloy (SMA) Actuators
• Finger Mechanism
• Series Connection Device
• Importance of Project Continuance
• Conclusion

3
Summary

• Apply wet shape memory alloy (SMA) actuators to
  complicated mechanism
• Show wet SMA possibilities
• Show wet SMA advantages
• Robotic Finger
• Provide complicated mechanism for actuator
  testing
• Achieve human-like finger motion
• Joints actuated via tendons
• Actuation from muscle-like actuators

4
Wet SMA Actuators
SMA wire inside tube. Hot/cold fluid flow through
tube. Cold Allow Expansion Hot Contract
5
Finger Mechanism Design
finger links
tendons
flexor
extensor
BASE
6
Critical Function Prototype
Full actuation
Picture taken by Jenny Gill, Nov. 2005
7
Series Connection Device
Pulleys
1st SMA attachment
2nd SMA attachment
Tendons to finger
3rd SMA attachment
4th SMA attachment
Provides 3-step discrete motion for each tendon.
8
Importance of Continuance

• Past SMA wire use not very successful
• Short SMA wire lifespancritical temperature
• Slow contraction/expansion cycle rate
• Wet SMA actuators overcome problems
• Show ability actuate complicated system
• Advantages of wet SMA discovered
• Ability to enhance future projects
• Develop discrete actuation method of wet SMA use

9
Conclusion

• Project Description
• Robotic Finger
• Provide foundation for robotic hand
• Show ability of wet SMA actuators
• Develop discrete actuation method
• Project Continuance
• Wet SMA actuator development
• Enhancement of future projects
• Discrete actuation method development