100g-100N finger joint with load-sensitive continuously variable transmission
100g-100N finger joint with load-sensitive continuously variable transmission
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DOI：
10.1109/robot.2006.1641836
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发表时间：
2006-05
期刊：
影响因子：
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通讯作者：
T. Takaki;T. Omata
中科院分区：
文献类型：
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作者：
T. Takaki;T. Omata
本文介绍了一种99克的手指关节，它可以施加超过100牛顿的非常强大的指尖力。我们已经证明，一个简单的五杆连杆可以用作手指关节的负载敏感无级变速器（CVT）。我们上一个手指的最大指尖力是由其链接和轴承的机械强度限制的，而不是由其直流电机的功率限制的。如果机器的强度可以提高，指尖的力就会大得多。为了设计出具有足够机械强度的轻量化无级变速器，对无级变速器的内力进行了分析，并选择了轻型滑动轴承。采用有限元法对其受力进行了分析，并对其连杆材料进行了选择。实验结果表明，在CVT奇异构型附近，指尖最大作用力大于100 N，最大角速度大于550°/s。没有CVT这些运动是不可能的。我们还开发了0.56 g的非常轻的形状记忆合金制动器。带制动器的无级变速器不仅在单一配置下可以承受100牛以上的指尖力。制动器所消耗的电能比直流电动机所消耗的电能少得多
This paper presents a 99 g finger joint that can exert a very strong fingertip force of more than 100 N. We have shown that a simple five-bar linkage can be used as a load-sensitive continuously variable transmission (CVT) for a finger joint. The maximum fingertip force of our previous finger was limited by the mechanical strength of its links and bearings, not by the power of its DC motor. If the machine strength can be improved, a much greater fingertip force can be expected. To design a lightweight CVT with sufficient mechanical strength, we analyze the internal force of the CVT and select light plain bearings. We also analyze the stress by using the finite element method and select the materials of its links. Experimental results verify that the maximum fingertip force is more than 100 N near the singular configuration of the CVT and the maximum angular velocity is more than 550 deg/s. These motions are impossible without the CVT. We also developed a very light shape memory alloy brake of 0.56 g. The CVT with the brake can hold a fingertip force of more than 100 N not only near the singular configuration. The electric energy consumed by the brake is much less than that by the DC motor