Development of a Robot Hand Using Shape Memory Gel and Wire-Driven Mechanism

- 3rd Report: Downsizing of the System to Attach to the Robot Arm -

Abstract

This paper presents a robot hand using shape memory gel (SMG) and wire-driven mechanism. The characteristic of SMG depends on its temperature. The hot SMG is soft and cold SMG is rigid. The SMG links of the robot hand become soft and rigid depending on their temperature. The hand is designed so that 32 2-DOF joints of the hand can be bent by 16 motors. The wire winding mechanism is downsized so that the robot hand can be attached with the robot arm. The experiment using the robot hand attached with the robot arm is performed to show the effectiveness of the robot hand.