Article
Version 1
Preserved in Portico This version is not peer-reviewed
Soft Driving Epicyclical Mechanism for Robotic Finger
Version 1
: Received: 31 March 2019 / Approved: 2 April 2019 / Online: 2 April 2019 (06:23:28 CEST)
A peer-reviewed article of this Preprint also exists.
Ramirez Arias, J.L.; Rubiano Fonseca, A.; Castiblanco Moreno, P.A. Soft Driving Epicyclical Mechanism for Robotic Finger. Actuators 2019, 8, 58. Ramirez Arias, J.L.; Rubiano Fonseca, A.; Castiblanco Moreno, P.A. Soft Driving Epicyclical Mechanism for Robotic Finger. Actuators 2019, 8, 58.
Abstract
Nowadays, the development or improvement of actuation mechanisms is a crucial topic for the achievement of dextrous manipulation using soft robots. 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.
Keywords
actuation and driving mechanism; soft robotics; soft epicyclical mechanism; Shape Memory Alloy
Subject
Engineering, Mechanical Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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