Development of a robot finger for five-fingered hand using ultrasonic motors
Development of a robot finger for five-fingered hand using ultrasonic motors
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使用超声波电机开发五指手机器人手指
DOI：
10.1109/iros.2003.1249270
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
T. Maeno
中科院分区：
文献类型：
--
作者：
I. Yamano;K. Takemura;T. Maeno
针对五指机械手与人手具有相同自由度的特点，设计了一种机器人手指。提出了一种利用超声波电机和弹性元件驱动机器人手的新方法。该方法利用弹性元件的回复力作为抓取物体的驱动力，使手在不需要动力供应的情况下也能进行柔软稳定的抓取动作。此外，由于超声波电机具有紧凑的尺寸和低速时的高扭矩，所有组件都放置在手中。将该驱动方法应用于多自由度机构，设计并实现了机器人食指。它具有与人类食指相同的关节数量和自由度，并且其大小也与平均成年男性的手指相同。机器人手指的性能是通过基本的驱动测试确认。
A robot finger is developed for five-fingered robot hand having equal number of DOF to human hand. The robot hand is driven by a new method proposed by authors using ultrasonic motors and elastic elements. The method utilizes restoring force of elastic element as driving power for grasping an object, so that the hand can perform the soft and stable grasping motion with no power supply. In addition, all the components are placed inside the hand thanks to the ultrasonic motors with compact size and high torque at low speed. Applying the driving method to multi-DOF mechanism, a robot index finger is designed and implemented. It has equal number of joints and DOF to human index finger, and it is also equal in size to the finger of average adult male. The performance of the robot finger is confirmed by fundamental driving test.