Preprint
Article

Soft Driving Epicyclical Mechanism for Robotic Finger

Submitted:

31 March 2019

Posted:

02 April 2019

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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 open access article is published under a Creative Commons CC BY 4.0 license, which permit the free download, distribution, and reuse, provided that the author and preprint are cited in any reuse.

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