Preprint Article Version 1 This version is not peer-reviewed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.

Journal reference: Actuators 2019, 8, 58
DOI: 10.3390/act8030058

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.

Subject Areas

actuation and driving mechanism; soft robotics; soft epicyclical mechanism; Shape Memory Alloy

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