Designing the prosthetic hand actuated by smart material

• Main Authors: Chih-Chiang Tung, 董志強
• Other Authors: 黃以玫
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/87427002260696598936

碩士 === 國立中央大學 === 機械工程研究所 === 95 === The purpose of this thesis is to design a two-finger prosthetic hand by using smart material for actuating the motion of the fingers. After surveying the characteristics of different smart materials, shape memory alloy (SMA) is chosen for its large displacement. The motion design of the prosthetic hand is based on the movement of the human hand. The other joints except fingers of the prosthetic hand are actuated by motors. In the thesis, the kinematics of the prosthetic hand is analyzed by Denavit-Hartenberg principle. The designed prosthetic hand arm can perform the movement similar to a human hand. To control the movement of the two-finger prosthetic hand, different methods are adopted for the hand and the fingers. PC code is written and then downloads to RS-232 board to control the motors for the hand motion. The shape memory alloy dominates the finger motion is controlled by using a simple switch and PWM heating process.