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The purpose of this research is to present a new method to achieve precise position tracking control for robot finger with variable stiffness mechanism. First, the variable stiffness design of the finger which is actuated by SMA-3 fibers is presented. Then, the relationship between the variation of pulling force ΔF of the bending robot finger and input voltage of SMA-3 is established. In addition,...
In this paper, a novel variable stiffness finger actuated by heating the embedded SMA fibers is proposed. First, the concept of the variable stiffness mechanism and fabrication of the finger which can demonstrate continuous deformation are presented. Then, the parameters of the SMA used for variable stiffness are identified, which are used to model the phase transformation processes of its Young’s...
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