Articles | Volume 15, issue 2
https://doi.org/10.5194/ms-15-601-2024
https://doi.org/10.5194/ms-15-601-2024
Research article
 | 
05 Nov 2024
Research article |  | 05 Nov 2024

Anthropomorphic modular gripper finger actuated by antagonistic wire and shape-memory alloy (SMA) springs

Longfei Sun, Yiwen Lan, and Binghao Wang

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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A linkage-type self-adaptive deformable tracked mechanism based on the six-bar mechanism
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Research on 3D information collection path planning for hyper-redundant space robots (HSRs)
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Mech. Sci., 15, 531–539, https://doi.org/10.5194/ms-15-531-2024,https://doi.org/10.5194/ms-15-531-2024, 2024
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Design principles and kinematic analysis of a novel spherical 2-degree-of-freedom (DOF) parallel mechanism
Xuechan Chen, Chao Xin, Zhen Zhang, Yu Guo, An Yin, and Ziming Chen
Mech. Sci., 15, 473–486, https://doi.org/10.5194/ms-15-473-2024,https://doi.org/10.5194/ms-15-473-2024, 2024
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Stability analysis and control method of a variable structure detection robot for underground rescue
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Cited articles

Ali, H. F. M., Khan, A. M., Baek, H., Shin, B., and Kim, Y.: Modeling and Control of a Finger-like Mechanism using Bending Shape Memory Alloys, Microsyst. Technol., 27, 2481–2492, https://doi.org/10.1007/s00542-020-05166-0, 2021. 
Boisclair, J. M., Laliberté, T., and Gosselin, C.: On the optimal design of underactuated fingers using rolling contact joints, IEEE Robot. Autom. Let., 6, 4656–4663, https://doi.org/10.1109/LRA.2021.3068976, 2021. 
Case, J. C., White, E. L., SunSpiral, V., and Kramer-Bottiglio, R.: Reducing Actuator Requirements in Continuum Robots Through Optimized Cable Routing, Soft Robot., 5, 109–118, https://doi.org/10.1089/soro.2017.0030, 2018. 
Chappell, D., Bello, F., Kormushev, P., and Rojas, N.: The Hydra Hand: A Mode-Switching Underactuated Gripper with Precision and Power Grasping Modes, IEEE Robot. Autom. Let., 8, 7599–7606, https://doi.org/10.1109/LRA.2023.3320897, 2023. 
Cianchetti, M., Calisti, M., Margheri, L., Kuba, M., and Laschi, C.: Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot, Bioinspir. Biomim., 10, 035003, https://doi.org/10.1088/1748-3190/10/3/035003, 2015. 
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Short summary
In order to better imitate the enveloping–grasping function of human fingers and control the grasping morphology of the fingers, a modular gripper is proposed to be controlled using a combined differential control of wires and shape-memory alloy (SMA) springs, and the gripper can actively adjust the grasping morphology of the fingers according to the characteristics of the shape and contour of the objects to be grasped so as to achieve stable and reliable grasping.