Miniature Robot Finger Using a Micro Linear Ultrasonic Motor and a Closed-Loop Linkage
Miniature Robot Finger Using a Micro Linear Ultrasonic Motor and a Closed-Loop Linkage
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DOI：
10.1109/iros.2018.8594098
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发表时间：
2018-10
期刊：
影响因子：
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通讯作者：
Shunsuke Izuhara;T. Mashimo
中科院分区：
文献类型：
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作者：
Shunsuke Izuhara;T. Mashimo
为了优先考虑小型化，微型机器人手的致动器被放置在远离末端执行器的位置，但这样的机构限制了可控性和灵活性。我们提出了一种由新型微型线性超声电机驱动的微型机器人手指作为微型机器人手的关键部件。它使灵巧和多种运动的微型手在有限的空间使用。本文构建了一种新型微型线性超声电机，其定子为长方体，边长约为2 mm，是最小的线性电机之一。微型线性超声电机原型在低电压操作下显示出约7.75 mN的输出扭矩，这足以处理微小物体。微型手指，一个闭环六连杆机构，是建立通过微加工和连接到电机原型。微型手指的第一个演示是在一个带有高功率透镜的高速摄像机下进行的。
To prioritize miniaturization, the actuators of micro robot hands are placed far from the end effectors, but such mechanisms restrict controllability and dexterity. We propose a miniature robot finger driven by a new micro linear ultrasonic motor as a key component for micro robot hands. It enables dexterous and multiple motions for micro hands used in limited spaces. In this paper, we build a new micro linear ultrasonic motor involving a cuboid stator with a side length of approximately 2 mm, making it one of the smallest linear motors. The micro linear ultrasonic motor prototype shows an output torque of approximately 7.75 mN at low voltage operation, which is sufficient force to handle tiny objects. The miniature finger, a closed-loop six-bar-linkage mechanism, is built by micro fabrication and connected to the motor prototype. The first demonstration of the miniature finger is shown under a high-speed camera with a high power lens.