Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements
Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements
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DOI：
10.1109/robot.2005.1570517
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发表时间：
2005-04
期刊：
影响因子：
--
通讯作者：
I. Yamano;T. Maeno
中科院分区：
文献类型：
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作者：
I. Yamano;T. Maeno
研制了一种与人手自由度几乎相等的五指机械手。该机械手采用独特的超声电机和弹性元件驱动。该方法利用恢复力作为抓取物体的驱动动力，使手在没有电源的情况下也能进行稳定、柔顺的抓取运动。此外，由于超声波电机具有低速时大扭矩和体积紧凑的特点，因此所有部件都放置在手上。将该驱动方法应用于多自由度机构，设计了五指机械手。机器人手有20个关节和自由度。它的大小几乎等于一个普通成年人的手。制作了机械手，并进行了控制实验。因此，机器人手的潜力得到了证实。
A five-fingered robot hand having almost an equal number of DOF to the human hand is developed. The robot hand is driven by a unique method using ultrasonic motors and elastic elements. The method makes use of restoring force as driving power in grasping objects, which enables the hand to perform stable and compliant grasping motion without power supply. In addition, all the components are placed inside the hand because the ultrasonic motors have characteristics of high torque at low speed and compact size. Applying the driving method to a multi-DOF mechanism, a five-fingered robot hand is designed. The robot hand has twenty joints and DOF. It is almost equal in size to the hand of an average grown-up man. The robot hand is produced, and control experiments are conducted. As a result, the potential of the robot hand is confirmed.