Design of a Shape Memory Alloy Coil Actuated Robotic Finger with Compliant Joint Antagonists

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dc.contributor.advisorOrszulik, Ryan
dc.contributor.authorTangestanian, Arvin
dc.date.accessioned2022-12-14T16:42:57Z
dc.date.available2022-12-14T16:42:57Z
dc.date.copyright2022-09-20
dc.date.issued2022-12-14
dc.date.updated2022-12-14T16:42:57Z
dc.degree.disciplineEarth & Space Science
dc.degree.levelMaster's
dc.degree.nameMSc - Master of Science
dc.description.abstractThis thesis investigates the development of a 3D-printable finger with compliant joints actuated by shape memory alloy (SMA) coils. This work presents the design, manufacturing, and characterization of the compliant finger mechanism, the SMA coil actuators, and an integrated prototype from analytical and experimental methods. The compliant finger mechanism is 3D-printed using thermoplastic polyurethane. Characterization of the mechanism exhibits a hysteresis profile in the force-displacement domain. The SMA coils are designed using a static two-state model, based on the required actuation stroke at discrete force-displacement coordinates. SMA coils are manufactured and characterized to obtain the actuator profiles for the SMA. The experimental profiles for the actuator and structure are used to predict equilibrium points between the two hysteresis curves. The final assembly with an SMA coil actuating the compliant mechanism is tested, and the experimental results show the actuation stroke and bias distance match the predictions from the hysteresis analysis.
dc.identifier.urihttp://hdl.handle.net/10315/40781
dc.languageen
dc.rightsAuthor owns copyright, except where explicitly noted. Please contact the author directly with licensing requests.
dc.subjectMechanical engineering
dc.subjectRobotics
dc.subjectMaterials Science
dc.subject.keywordsShape memory alloys
dc.subject.keywordsSmart materials
dc.subject.keywordsCompliant mechanisms
dc.subject.keywordsCompliant design
dc.subject.keywordsSMA
dc.subject.keywordsSMA coils
dc.subject.keywordsCompliant antagonist
dc.titleDesign of a Shape Memory Alloy Coil Actuated Robotic Finger with Compliant Joint Antagonists
dc.typeElectronic Thesis or Dissertation

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