Design and fabrication of a Robotic Hand using shape memory alloy actuators

Abstract

In this paper design and fabrication of a Robotic Hand using shape memory alloy (SMA) actuators has been discussed. The robot has close similarity to shape of a real hand and has been designed based on human hand model. In order to fabricate the robot parts with high level of accuracy, a 3D printer has been used. Moreover, SMA springs are being used as the actuators and by actuating the SMA springs, fingers can bend or open. The mechanism is designed such that helps springs to open and bend the fingers easily.