Open AccessA Fuzzy Logic Control System for a Robotic Hand Driven by Shape Memory Alloy Wires
Author(s) -
André Silva,
Samuel De Oliveira,
Andreas Ries,
Simplício A. Silva,
Cícero da Rocha Souto
Publication year - 2019
Publication title -
european journal of engineering research and science
Language(s) - English
Resource type - Journals
ISSN - 2506-8016
DOI - 10.24018/ejers.2019.4.10.1599
Subject(s) - shape memory alloy , actuator , nickel titanium , robotic hand , fuzzy logic , computer science , artificial muscle , artificial intelligence , robot , control engineering , mechanical engineering , engineering
This paper presents a robotic hand using wires with shape memory (NiTi) as non-conventional actuators. The mechanical structure of the robot hand was first designed by means of a CAD computer program and afterwards 3D printed using ABS polymer. The robotic hand was designed according to the physiological characteristics of the human hand, with particular attention to the angles formed by the phalanges of the fingers. A mechanical system accommodates the thin NiTi wires compactly, thus forming an artificial muscle. A fuzzy logic based control system allows an accurate positioning of each phalanx. The contribution of the present work to science lies in the practical implementation of known techniques and materials.