Next Article in Journal
A Critical Analysis of Valve-Compensated Hydrostatic Actuators: Qualitative Investigation
Previous Article in Journal
Analysis and Control of Slotless Self-Bearing Motor
Open AccessArticle

Soft Driving Epicyclical Mechanism for Robotic Finger

Industrial and Mechatronic Departament, Universidad Militar Nueva Granada, Km 2 de la vía Cajicá-Zipaquirá, Cajicá 250547, Colombia
*
Author to whom correspondence should be addressed.
Actuators 2019, 8(3), 58; https://doi.org/10.3390/act8030058
Received: 2 April 2019 / Revised: 25 June 2019 / Accepted: 19 July 2019 / Published: 29 July 2019
Nowadays, the development or improvement of soft actuation mechanisms is a crucial topic for the achievement of dexterous manipulation using. 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. View Full-Text
Keywords: actuation and driving mechanism; soft driving epicyclical mechanism; shape memory alloy actuation and driving mechanism; soft driving epicyclical mechanism; shape memory alloy
Show Figures

Figure 1

MDPI and ACS Style

Ramirez, J.; Rubiano, A.; Castiblanco, P. Soft Driving Epicyclical Mechanism for Robotic Finger. Actuators 2019, 8, 58.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map

1
  • Supplementary File 1:

    ZIP-Document (ZIP, 74886 KB)

  • Externally hosted supplementary file 1
    Doi: 10.20944/preprints201904.0026.v1
Back to TopTop