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The development of an artificial hand using nickel-titanium as actuators
Author(s)
Longela, Makusudi Simon
Date Issued
2013
Type
Thesis
Publisher
Cape Peninsula University of Technology
Abstract
This thesis outlines a proposed mechanical design, prototyping and testing of a five
fingered artificial hand made of 15 articulated joints actuated by Shape Memory
Alloys (SMAs) mimicking muscular functions. SMAs Artificial muscles were
incorporated in the forearm and artificial tendons made of nylon wires passing
through a hollow palm transmit the pulling force to bend the fingers. Torsion springs
set in each joint of the fingers create enough restoring force to straighten the finger
when the actuators are disengaged.
Nickel-Titanium (NiTi) wires were intrinsically embedded within the hand structure
allowing significant movements mimicking human hand-like gestures.
A control box made of switches connected to the artificial hand helps to control each
gesture.
A modular approach was taken in the design to facilitate the manufacture and
assembly processes. Nickel-Titanium wires were used as actuators to perform the
artificial muscle functions by changing their crystallographic structures due to Joule's
heating.
Rapid prototyping techniques were employed to manufacture the hand in ABS plastic.
fingered artificial hand made of 15 articulated joints actuated by Shape Memory
Alloys (SMAs) mimicking muscular functions. SMAs Artificial muscles were
incorporated in the forearm and artificial tendons made of nylon wires passing
through a hollow palm transmit the pulling force to bend the fingers. Torsion springs
set in each joint of the fingers create enough restoring force to straighten the finger
when the actuators are disengaged.
Nickel-Titanium (NiTi) wires were intrinsically embedded within the hand structure
allowing significant movements mimicking human hand-like gestures.
A control box made of switches connected to the artificial hand helps to control each
gesture.
A modular approach was taken in the design to facilitate the manufacture and
assembly processes. Nickel-Titanium wires were used as actuators to perform the
artificial muscle functions by changing their crystallographic structures due to Joule's
heating.
Rapid prototyping techniques were employed to manufacture the hand in ABS plastic.
Additional information
Thesis (MTech (Mechanical Engineering))--Cape Peninsula University of Technology, 2013.
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210273240_Longela_MS_Mtech_Mech_Eng_2013_20132034.pdf
Description
Thesis
Size
35.31 MB
Format
Adobe PDF
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