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Team Robotic Hand

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Construct A Fluidic SMA Actuated Hand. Smart Memory Alloy Wires Contract When Heated. ... SMA Fluidic Actuators Power Muscle-Tendon System. Research Has Been ... – PowerPoint PPT presentation

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Title: Team Robotic Hand


1
Team Robotic Hand
  • Aaron Lassig, Jared Wood, Cameron Sullivan
  • Lassig2_at_gmail.com
    jared.jwood_at_gmail.com csulliva_at_eng.utah.ed
    u

2
  • Construct A Fluidic SMA Actuated Hand
  • Smart Memory Alloy Wires Contract When Heated.
  • Water Can Control Temperature

3
  • Problems with Current SMA actuators
  • SMA Wires Are Known To Frequently Fail
  • SMA Wires Alone Have Inadequate Cool Down
    Response Time

4
  • Why use SMA wires?
  • SMA Wires Are More Compact
  • SMA Wires Have greater strength to Weight ratio
  • If Controlled Can Last Longer.
  • Use Water To Control Wire Temperature

5
Fluid System
  • SMA Wires Encased In Tubes
  • Hot/Cold Water Flows Through Tubes
  • Temperature Maintained Below SMA Wire Critical
    Temperature
  • Failure Prevention

6
Work Done So Far
  • Research of the Human Hand.
  • Muscle-Tendon System
  • More Complex than Imagined
  • Focus on the Finger System
  • Finger Not Completely Understood by World Yet

7
Simplified Anatomy of the Finger
Diagram from Tubiana R, Valentin P The anatomy
of the extensor apparatus of the fingers. Surg
Clin North Am 44897-906
8
Next Step
  • Develop Analytic Models of Finger Muscle-Tendon
    System Used
  • IMPORTANCE!! Determine Constraints for Design
  • Muscle Strain of Each Tendon as a Function of the
    Finger Joint Angles
  • Angle of Each Joint as Functions of the Muscle
    Strains of Each Tendon

9
Conclusion
  • SMA Fluidic Actuators Power Muscle-Tendon System
  • Research Has Been Started
  • Next Step
  • Analytic Models of Muscle-Tendon System
  • Obtain Information/Understanding of Constraints
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