와이어형 형상기억합금 구동기를 이용한 인체 손가락 모델에 대한 연구

A Study on the Human Finger Model using Wire-type SMA Actuator

  • 정진우 (연세대학교 기계공학과 대학원) ;
  • 임수철 (연세대학교 정보처리기기 연구센터) ;
  • 박영필 (연세대학교 기계공학과) ;
  • 양현석 (연세대학교 기계공학과) ;
  • 박노철 (연세대학교 정보저장 협동과정)
  • 발행 : 2005.11.01

초록

This paper describes a human finger model driven by shape memory alloy(SMA) wires. The finger model has three joints that are similar to human finger. Each joint is actuated with two wires in the antagonistic manner and six wires are used to actuate three finger joint. In order to obtain the desirable finger motion, the diameters of the SMA wires are designed with different diameters by considering the required actuating force and response time. The rotary sensors are used to measure the angle positions of the joints and PWM control using PID algorithm is used to achieve desired angle positions of the finger joints. After estimating the control performance of each finger joint for the desired angle position, the antagonistic motion control of the finger model is experimentally evaluated.

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