Abstract
Dexterous robotic hands can not only work in dangerous situations like industrial processing, but also play a full role in daily lives such as artificial hands for the disabled, nursing home services and other fields. And smart materials driven dexterous hands are lightweight, highly compliant and have low risk of failure. However, the poor stiffness and low driving force limit their practical applications. In this paper, we propose a design of the dexterous hand driven by dielectric elastomer actuator (DEA), and incorporate origami structure to improve its stiffness and bearing capacity. Then, an analysis model for the DEA and knuckle is presented. Through this analysis model, not only the bending curvature, tip displacement and driving force of DEA, but also the compressive displacement, bending angle and driving force of the knuckle can be obtained after determining the design parameters (dimensions and materials) and input voltage. And the curvature model of DEA is verified experimentally. This paper lays a structural and theoretical foundation for subsequent research of the dexterous hand, showing that the combination of DEA with origami structure has great prospects in the field of dexterous hands.
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Acknowledgment
Thanks for the support of the National Key R&D Program of China (2020YFC2007804), the Natural Science Foundation of the Jiangsu Higher Education Institutions of China (19KJA180009), the Natural Science Foundation of Jiangsu Province (BK20191424), the Jiangsu Frontier Leading Technology Fundamental Research Project (BK20192004D), and the Distinguished Professor of Jiangsu province.
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Li, Y., Zhang, T. (2022). Design and Modeling of a Dexterous Robotic Hand Based on Dielectric Elastomer Actuator and Origami Structure. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13455. Springer, Cham. https://doi.org/10.1007/978-3-031-13844-7_55
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DOI: https://doi.org/10.1007/978-3-031-13844-7_55
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