Biomedical Engineering Reference
In-Depth Information
4.7.1
F
ABRICATION
OF
F
IVE
-F
INGERED
H
AND
E
QUIPPED
WITH
F
IBER
B
UNDLE
PAN M
USCLES
A prototype of a PAN muscle finger was made and shake-up was tested. PAN fingers
in initial and grab motion are shown in figures 4.138 and 4.139. Three different
kinds of springs were prepared to practice turn-back motion. Detailed spring spec-
ification is provided in table 4.11. The specific dimensions and spring combinations
were optimized for better performance.
Each PAN finger except for the thumb consists of three knuckles, four PAN fiber
muscles, two return springs, and two tubes that deliver acid and basic solution used
to shrink and elongate the fiber. The thumb consists of three knuckles, two PAN
F = 1.13 N (K = 0.033 N/mm
31°
K = 0.021
N/mm
25°
4°
K = 0.033 N/mm
FIGURE 4.138
Initial position of a single PAN finger.
F = 1.33 N
78°
25°
27°
F = 1.13 N
FIGURE 4.139
Grab position performance of a single PAN finger.
